JP2638345B2 - Flying object guidance control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guidance control method for a guided flying object such as a missile and, more particularly, to a beam riding type guidance control method.

[0002]

2. Description of the Related Art As a guidance control method of a beam riding system, for example, as disclosed in Japanese Patent Application Laid-Open No. 22402098, the direction of deviation between a guidance laser beam and a flying object is determined by a laser receiver at the rear of the aircraft. Detects and activates the trajectory correcting means such as the impulse thruster corresponding to the direction of the deviation, so that the flying object can fly while correcting the path so that it always follows the center of the guided laser beam It has been known.

[0003]

In the conventional method as described above, since the guide laser beam is irradiated toward the rear end of the flying object, the flying object is moved backward for acceleration. It is necessary to transmit the induced laser beam through the discharged rocket motor plume. In addition, since the plume of the rocket motor has a characteristic of absorbing and scattering the induced laser beam, in order to reliably transmit the induced laser beam to the flying object side, (a) irradiate a strong induced laser beam.

(B) A rocket motor is used which discharges a plume having a characteristic of hardly absorbing and scattering the induced laser beam.

(C) The flight path of the flying object is bent at an early stage, and the rocket motor plume is discharged into a space where the guiding laser beam at the time of terminal guidance is not blocked.

[0006] There are various problems such as performance and operational restrictions, and many problems still remain in practical use.

Although it is possible to use a multistage type for the purpose of further reducing the weight of the flying object, since the used rocket motor after separation will block the induced laser beam, the performance and operation will be similar to the above. It has the above problems.

In addition, in the conventional method, since the roll angle with respect to the inertia reference cannot be measured, if a roll angle control is to be performed for more advanced guidance, a device such as a roll gyro must be mounted. This leads to an increase in cost and weight, which is not preferable.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and aims to provide a guidance control method capable of realizing a beam riding system without being affected by smoke from a rocket motor. It is.

[0010]

According to the flying object guidance control method of the present invention, a plurality of photodetectors having a radial view toward the outside of the aircraft are provided at equal positions on the outer peripheral surface of the aircraft, and the orbit is controlled. A flying object equipped with correction means is fired in a predetermined direction, and guided lasers are applied to the outer periphery of the aircraft from the rear of the aircraft to portions corresponding to the top of a regular polygon surrounding the aircraft with the flight command direction as the center. By irradiating a pulse, and performing a predetermined calculation by capturing the scattered light from the induced laser pulse with the plurality of photodetectors, a flight required to correct a deviation between the flight command direction and the aircraft axis. It is characterized in that a trajectory correction direction of the body is obtained, and the trajectory is guided in a flight command direction by operating the trajectory correction means based on the trajectory correction direction information.

As the trajectory correcting means, for example, jet impulse thrusters (side thrusters) are arranged in a plurality of rows along the circumferential direction of the outer periphery of the body.

[0012]

According to this method, for example, assume that a regular polygon surrounding the outside of the fuselage is a regular triangle, and that the top of each of the regular triangles is irradiated with a guide laser pulse, the guide laser pulse is applied to the side of the body. The induced laser pulse is not interrupted by the rocket motor plume that is jetted to the rear of the fuselage to pass.

The above-mentioned induced laser pulse is absorbed and scattered by fine particles (aerosol) existing in the atmosphere without receiving the smoke of the rocket motor, so that the induced laser pulse passes on the side of the photodetector. Sometimes, among the scattered light from the induced laser pulse, scattered light directed in the direction of each photodetector is captured by each photodetector.

On the other hand, the incident angle of the scattered light with respect to the center of the optical axis (the center line of the viewing angle) of each photodetector is specified according to which part of the light receiving surface of the photodetector has received the scattered light. By performing a predetermined calculation on the basis of the above, the current aircraft position of the aircraft is specified, and furthermore, the center of the above-mentioned equilateral triangle, that is, the direction of the deviation between the flight command direction and the aircraft axis is obtained. Therefore, by giving this information to the trajectory correcting means and operating it, the trajectory of the flying object is corrected in the flying command direction.

[0015]

1 and 2 are schematic explanatory views showing one embodiment of the present invention. Reference numeral 1 denotes a launcher having a target search and tracking device 3 including a laser pulse irradiator 2; A guided flying object 5 such as a missile that is launched and guided by a beam riding method is a target.

When the target tracking sensor 6 of the target search and tracking device 3 captures the target 5, the target search and tracking device 3 irradiates the target 5 with the tracking beam 7 and starts tracking the target 5, and changes every moment. The position, speed, and the like of the target 5 to be measured are measured, and the information is transmitted to the future position (estimated meeting point) calculation unit 8. The future position calculation unit 8 calculates a future position based on the information on the position, speed, and the like of the target 5, and instructs the laser pulse irradiator 2 to irradiate the guidance laser pulse for guiding the flying object. And instruct the launcher 1 in the direction in which the flying object 4 should be launched. Then, following the irradiation of the guidance laser pulses P ₁ , P ₂ , and P _{3 in the} flying command direction a from the laser pulse irradiator ₂ , the flying object 4 is launched from the launcher 1 and the flying object 4 is guided by a beam riding scheme.

The above-described induction laser pulse irradiator 2 is shown in FIG.
As shown in FIG. 1, it is composed of a laser oscillator 9 of, for example, a YAG laser and a laser pulse distributor 10 arranged in front of the laser oscillator 9. As shown in FIGS. The guide laser pulses P ₁ , P ₂ , and P ₃ are intermittently and radially applied to positions each corresponding to the top of an equilateral triangle having a center which is larger than the flight command direction a.

On the other hand, as shown in FIG. 1 and FIG. 5, a two-phenomenon type photodetector (hereinafter referred to as a light-receiving sensor) That)
12, 13, and 14 are provided. This light receiving sensor 1
As shown in FIG. 8, 2, 13, and 14 have radial viewing angles E of 120 degrees each toward the outside of the fuselage.
As shown in FIGS. 5 and 6, two half-shaped light receiving surfaces 15 are provided.
A light receiving section 15 having A and 15B and a condenser lens 16 are provided.

When each of the light receiving sensors 12, 13, and 14 captures light within the viewing angle E, the light receiving surface 15A, 1
When the light from the center of the optical axis of 5B is captured, the light receiving amounts of both light receiving surfaces 15A and 15B do not change as shown in FIG. 6A, but the optical axis as shown in FIG. When light from the direction of an angle θ with respect to the center b is captured, the amount of light received on one light receiving surface 15A and the other light receiving surface 15B
Since there is a correlation between the change in the amount of received light and the incident angle of light, the change in the amount of received light is photoelectrically converted and processed by the signal processor 17 in FIG. θ (θ ₁ , θ ₂ , θ ₃ ) is output.

The flying object 4 is shown in FIGS.
As shown in FIG. 1, there are provided a number of impulse thrusters 18 as trajectory correcting means arranged in several rows in the circumferential direction of the fuselage. Each of these impulse thrusters 18 is an independent pyrotechnic or gas bottle type jet type, and functions as a small rocket motor by individually igniting.

In the above-described system, as shown in FIG. 1, each of the equilateral triangles having the center in the flight command direction a outside the flying object 4 in flight and including the flying object 4 is included. The guiding laser pulses P ₁ , P ₂ , and P ₃ intermittently pass through a portion corresponding to the top.

[0022] Then, the laser light propagating through the atmosphere, as shown in FIG. 7, the absorption scattered by the intensity is attenuated by particles (aerosols) e present in the atmosphere at a transportable, each guided laser pulses P ₁ , P ₂ , P ₃ are the light receiving sensors 12, 1
When passing through the viewing angle in E of 3, 14, a large scattering intensity directed to the direction of the respective light receiving sensors 12, 13 and 14 of scattered light d from the guided laser pulses P _1, P _2, P ₃ The light d ₁ , d ₂ , and d ₃ are applied to each light receiving sensor 1 as shown in FIG.
2,13,14. In other words, in the present embodiment, the fact that the intensity of the laser beam is significantly attenuated by absorption and scattering in the atmosphere implies that the intensity of the scattered beam around the laser beam path is simultaneously high, and this property is positively considered. (Note that the above phenomenon is, for example, “T
HE INFRARED HANDBOOK ", Env
ironmental Research Insti
Tute of Michigan, 1985 (Rev.
isd Edition) etc.).

As described above, each guided laser pulse P ₁ ,
The scattered light d ₁ , d ₂ , d ₃ from P ₂ , P _{3 is applied} to each light receiving sensor 1.
6, 13 and 14, two light receiving surfaces 15 of each of the light receiving sensors 12, 13, and 14, as shown in FIG.
Since there is a correlation between the difference in the amount of received light between A and 15B and the incident angle θ of the scattered lights d ₁ , d ₂ and d ₃ , each light receiving sensor 1
Assuming that the optical axis centers of 2, 13, and 14 are b, each optical axis center b
And the scattered light d _{1 of} each induced laser pulse P ₁ , P ₂ , P ₃ ,
The angle between d ₂ and d ₃ , that is, each light receiving sensor 1
The incident angles θ ₁ , θ ₂ and θ ₃ with respect to ₂ , 13, and 14 are obtained.

The circumferential angle calculating circuit 19 shown in FIG. 2 calculates (1), (2) based on the values of the incident angles θ ₁ , θ ₂ and θ ₃ .
The angles θ ₁₂ and θ ₂₃ between the scattered lights d ₁ and d _{2 and} between d ₂ and d ₃ shown in FIG. 8 are obtained by performing the calculation of the equation (2).

Here, θ _FOV is the value of each light receiving sensor 12, 1
Since the viewing angles E themselves of 3, 14 are known values, if the values of the incident angles θ ₁ , θ ₂ , θ ₃ are specified, the angles θ ₁₂ , θ ₂₃ can be obtained.

Θ ₁₂ = θ ₁ + θ _FOV / 2 + θ _FOV / 2−θ ₃ = θ ₁ + θ _FOV −θ ₃ (1) θ ₂₃ = θ _FOV / 2−θ ₁ + θ _FOV / 2 + θ ₂ = θ _FOV −θ ₁ + θ _{2 ２} (2) Once the above angles θ ₁₂ and θ ₂₃ are obtained, the navigation calculation circuit unit 20 in FIG. Calculate the position. That is, as shown in FIG. 9, since the positions of the guided laser pulses P ₁ , P ₂ , and P ₃ corresponding to the vertices of the equilateral triangle are known in addition to the angles θ ₁₂ and θ ₂₃ described above, the predetermined calculation is performed. By doing this, the axis position M of the flying object 4 is obtained, and the flying command direction (the center position of the equilateral triangle having the positions of the respective guided laser pulses P ₁ , P ₂ , and P ₃ as vertices) a The trajectory correction direction required to match the machine axis M of the body 4, that is, for example, the light receiving sensor 1
A trajectory correction direction F having an angle に 対 し て with respect to the scattered light d ₂ captured by the third light source 3 is obtained.

When the trajectory correction direction F is obtained,
Further, as shown in FIG. 10, for example, as shown in FIG. 10, when the optical axis center b of the light receiving sensor 13 is set as the body reference axis in the roll direction, the navigation calculation circuit section 20 calculates the angle φ of the trajectory correction direction F with respect to the body reference axis b. determined by ψ-θ _1.

Then, when the trajectory correction direction F based on the body reference axis b is obtained, the navigation calculation circuit section 20 calculates the body 1 from the plurality of impulse thrusters 18 described above.
Any one of the impulse thrusters 18 necessary for correcting 1 in the trajectory correction direction F is specified, and the impulse thrusters 18 are activated. As a result, the flying object 4 is moved in the trajectory correction direction F by the thrust of the impulse thruster 18 and the trajectory is corrected in the direction in which the aircraft axis M coincides with the flight command direction a.

Such an operation is performed by each of the light receiving sensors 12, 1
The flying object 4 is guided along the flight command direction a by sequentially repeating the scattered light d ₁ , d ₂ , and d ₃ from the guiding laser pulses P ₁ , P ₂ , and P ₃ , respectively. Let's fly towards goal 5

Here, in the above-described embodiment, the number of the induced laser pulses is three, but may be four or more. As the trajectory correcting means, a normal aerodynamic steering type may be used in addition to the impulse thruster (side thruster).

[0031]

As described above, according to the present invention, the laser beam is irradiated from the back of the airframe to the outside of the airframe of the flying object and to the portion corresponding to the top of the regular polygon surrounding the airframe. As a result, there is no need to transmit the induced laser pulse through the rocket motor plume generated by the flying object as in the past, and there is no need to bend the flight path of the flying object. There is no restriction on performance and operation such as the need for an irradiation source.

Further, since the flying object can detect the roll angle with respect to the inertia reference without mounting a roll gyro or the like, the reliability is improved without increasing costs and weight.

[Brief description of the drawings]

FIG. 1 is a schematic explanatory diagram of an entire system showing one embodiment of the present invention.

FIG. 2 is a block circuit diagram of a trajectory correction control system of the flying object.

FIG. 3 is an explanatory diagram showing a configuration of a laser pulse irradiator.

FIG. 4 is an explanatory view showing an irradiation mode of an induced laser pulse.

FIG. 5 is an enlarged view of a main part of a flying body.

FIG. 6 is an explanatory diagram showing the principle of a light receiving sensor (photodetector).

FIG. 7 is an explanatory diagram showing a relationship between an induced laser pulse and scattered light.

FIG. 8 is an explanatory diagram showing a principle for calculating a trajectory correction direction.

FIG. 9 is an explanatory diagram showing a principle for calculating a trajectory correction direction.

FIG. 10 is an explanatory diagram showing a principle for calculating a trajectory correction direction.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Launcher 2 ... Induction laser pulse irradiator 4 ... Flying object 5 ... Target 11 ... Aircraft 12, 13, 14 ... Light detector (light receiving sensor) 18 ... Impulse thruster as trajectory correction means a ... Flight command direction _{d 1, d 2, d 3} ... scattered light F ... course correction direction M ... shaft _{P 1, P 2, P 3} ... guided laser pulse _{θ 1, θ 2, θ 3} ... incident angle

Claims (1)

(57) [Claims] 1. A flying object provided with a plurality of photodetectors having a radial visual field toward the outside of the aircraft at equal positions on the outer peripheral surface of the aircraft and provided with a trajectory correcting means is fired in a predetermined direction, The outer periphery of the fuselage is irradiated with a guide laser pulse from the rear of the fuselage with respect to a portion corresponding to the top of a regular polygon surrounding the fuselage and having the fly command direction as a center, and scattered light from the guide laser pulse is applied to the plurality of By performing a predetermined calculation by capturing with the photodetector, the trajectory correction direction of the flying object necessary to correct the deviation between the flight command direction and the aircraft axis is determined, and the trajectory correction direction information is obtained based on the trajectory correction direction information. A guidance control method for a flying object characterized by guiding a flying object in a flight command direction by operating a trajectory correcting means.