JP2853685B2 - Flight path measurement device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flight path measurement apparatus, and more particularly to a flight path measurement apparatus that measures the position of a flying object at one fixed ground receiving station.

[0002]

2. Description of the Related Art A flight path measuring device which measures the three-dimensional position of a flying object and measures its flight path is disclosed in
No. 4,515,185. This flight path measurement device is configured as follows. That is, as shown in FIG. 6, a television camera 31, a transmitter 32, and an antenna 33 are mounted on a helicopter 30 as a flying object.
The horizontal deflection angles and elevation angles when the parabolic antennas 11 and 21 provided at the receiving facilities 10 and 20 installed at two places on the ground are directed to the helicopter 30 are respectively horizontal angle measuring devices 12 and 22, It is measured by the vertical angle measuring devices 13 and 23.

[0003] The horizontal shake angle and the elevation angle measured by the receiving equipment 10 are transmitted to the data receiving device 25 of the receiving equipment 20 via the data transmitting device 14. The distance detection device 24 of the receiving equipment 20 calculates each of the receiving equipment from the two horizontal shake angles measured at the two receiving equipments 10 and 20, the two elevation angles, and the linear distance between the receiving equipments 10 and 20. The distance from 10 and 20 to helicopter 30 is calculated. The distance calculated by the distance detection device 24 is the display device 2
6 and transmitted to the data receiving device 15 of the receiving facility 10 via the data transmitting device 27 and displayed on the display device 16.

[0004]

As described above, the conventional flight path measuring device receives the transmission radio waves from the flying object at two or more fixed receiving stations on the ground, thereby obtaining the position of the flying object and the flight path. Therefore, fixed ground receiving stations for receiving radio signals transmitted by the flying object must be installed at two or more locations. Therefore, when measuring the flight path of a flying object in an area where a permanent ground fixed receiving station is not installed in advance, not only two ground fixed receiving stations must be provided for flight path measurement, but also A fixed ground receiving station must also be installed at a position distant from the body's launching child. To calculate the flight path of the flying object,
This is inconvenient in that it is necessary to know the distance between two receiving stations. Further, there is a drawback that the accuracy of the flight path measurement of the flying object is deteriorated if the distance is not large.

Accordingly, an object of the present invention is to provide a flight path measuring apparatus capable of measuring a flight path of a flying object simply by simply installing a fixed ground receiving station capable of receiving a radio signal transmitted from the flying object at only one place. Is to provide.

[0006]

In order to solve the above-mentioned problems, in the flight path measuring device according to the present invention, a flying object transmits time information superimposed on a transmission signal, and the fixed ground receiving station transmits the time information. Measure the azimuth and elevation angle direction of the flying object, extract the time information from the reception signal received by the ground fixed receiving station, and distance from the flying object to the ground fixed receiving station based on the extracted time information Is calculated, and a distance from the flying object to the ground fixed receiving station is measured based on the obtained distance and the distance initial value of the flying object determined in advance.

A flight path measuring apparatus according to another aspect of the present invention measures an initial distance between the flying object and a fixed ground receiving station in an initial state before the flying object takes off, and the fixed ground receiving station measures the distance. The time information superimposed on the transmission signal transmitted from the flying object and the difference between the time information of the ground fixed receiving station synchronized with this time information as the initial time difference before takeoff, the flying object has taken off Thereafter, the time information superimposed on the transmission signal from the flying object, the difference between the time information of the ground fixed receiving station, and the time change between the time difference initial value before takeoff is detected, based on these information, A distance change between the flying object and the ground fixed station is calculated, and an initial distance value before the flying object takes off is added to calculate a current distance between the flying object and the ground fixed receiving station.

[0008] Here, the ground fixed receiving station has means for continuously knowing the azimuth and elevation angle direction of the flying object after takeoff as seen from the receiving station, and the ground fixed receiving station is centered on the ground fixed receiving station. The flight path of the flying object is measured by the spherical coordinate system. The means for continuously and periodically knowing the azimuth and elevation angle of the flying object viewed from the ground fixed receiving station may be any of a monopulse type tracking device, a conical scan type tracking device, or a search and tracking method using a phased array radar. It is.

A flight path measuring apparatus according to still another aspect of the present invention provides a flight object with time information superimposing means for superimposing time information on a transmission signal, and transmitting the superimposed transmission signal as a radio signal. A fixed antenna receiving means for receiving a radio signal transmitted from the antenna means of the flying object; and a second antenna means for connecting the second antenna means to the azimuth and elevation directions. Antenna driving means for outputting angle information of the azimuth and elevation to which the antenna is directed, and receiving means for receiving a signal on which time information from the flying object captured by the second antenna means is superimposed. A pre-comparison means for adding and subtracting a reception signal received by the reception means to output a Σ signal and a Δ signal in the azimuth direction and the elevation direction; Angle error calculating means for obtaining an angle error of the arrival direction of the radio signal with respect to the center of the Σ beam of the second antenna and outputting an error angle signal; and a radio signal on which time information transmitted by the flying object is superimposed. A distance calculator for calculating a distance difference between the flying object and the distance initial value and outputting a distance from the flying object to the ground fixed receiving station; and a flying object and the ground fixed in an initial state before the flying object takes off. Distance initial value measuring means for measuring an initial distance value between the receiving stations.

Here, the second antenna means may be a monopulse antenna. Further, the second antenna means is a conical scan antenna, and the angle error calculating means performs azimuth detection by phase-detecting a radio signal from the flying object with a rotation drive signal from a beam rotator of the conical scan antenna. An error angle signal in the direction and the elevation direction is output. Further, the antenna means includes:
A phased array antenna that can electrically control the beam directing direction, and has a beam controller that electrically controls the beam directing direction by changing the phase of each antenna element, wherein the phased array antenna has a flying object. Beam scanning an arbitrary azimuth and elevation range centered on the angle to be performed, and the angle position commander determines the angle in the azimuth direction and elevation direction of the flying object based on the point where the strength of the radio signal from the flying object is strongest. Output a signal.

In the above, there is provided a received signal strength determining means for determining whether a radio signal received by the second antenna means has a sufficient receiving strength. Is measured.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of a flight path measuring apparatus according to the present invention, in which a monopulse antenna is used as an antenna having angle measuring means. FIG. 2 is a diagram illustrating the principle of calculating the distance to the flying object according to the present embodiment, and FIG. 3 is a diagram illustrating the positional relationship between the flying object and the ground fixed receiving station.

The flying object 200 has ordinary transmitting means 201, and superimposes time information on a transmission signal by a time information superimposing device 202 and transmits the superimposed information from an antenna 203. This time information signal is, for example, a pulse signal S2 at a predetermined constant interval as shown in FIG.

On the other hand, the ground fixed receiving station 100 has a monopulse antenna 101 driven by an antenna driver 102, receives a transmission signal on which time information transmitted from the flying object 200 is superimposed, and receives a pre-comparator. Flying object 200 in 5
Σ signal and azimuth direction A
The signal of z and the elevation direction El are obtained and output.
The receiver 104 that has received the Σ signal amplifies the transmission signal from the flying object 200 and outputs the amplified signal to the angle error calculator 107, the reception intensity determiner 108, and the distance calculator 109.

The reception intensity judgment unit 108 judges whether or not the intensity of the reception signal received from the flying object 200 is equal to or higher than a predetermined intensity. If the intensity is equal to or higher than the predetermined intensity, the angle error calculator 107 And a signal for making the output of the distance calculator 109 valid.

The Δ signals in the azimuth direction and the elevation direction output from the pre-comparator 102 are
05: Received and amplified by the receiver 106, the angle error calculator 1
07. The angle error calculator 107 normalizes the △ signal in the azimuth and elevation directions with the Σ signal,
The azimuth of the monopulse antenna 101 and the error angle of the elevation direction with respect to the Σ beam are output to the antenna driver 102. The antenna driver 102 determines the angle of the monopulse antenna 101 from the error angle in the azimuth and elevation directions.
The beam is driven so as to always face the antenna 203 of the flying object 200, and at the same time, the azimuth and elevation angles φ and θ of the monopulse antenna 200 are always output to the outside of the ground fixed receiving station 100.

The distance initial value measuring device 110 has a distance measuring function similar to that of a laser distance measuring device or the like.
The initial value of the distance from to the flying object 200 is measured and output to the distance calculator 109. The distance calculator 109 is used for the flying object 20.
A transmission signal from 0 is received from the signal receiver 104, and time information is demodulated from the signal.

The distance calculator 109 is provided for the flying object 20 before takeoff.
As shown in FIG. 2A, a reference pulse signal S1 at a predetermined constant interval synchronized with time information to be transmitted as 0 is provided, and a time difference t between pulses between the signals S1 and S2 is recorded as an initial state. When the flying object 200 takes off and the distance between the flying object 200 and the ground fixed receiving station 100 increases, as shown in FIG. 2B, the reference pulse signal S1 and the flying object transmission pulse S
The time difference between the two is extended to T, and the distance calculator 109 performs a calculation such as (T−t) × light speed tens (distance initial value) using the time difference T to calculate the distance R of the flying object in flight to the ground. The signal is output outside the fixed receiving station 100.

As is apparent from FIG. 3, the azimuth and elevation angles φ and θ outputted from the fixed ground receiving station 100, the flying object 200 and the fixed ground receiving station 10 are shown.
From the distance R between 0, the position of the flying object 200 in flight can be measured.

Next, second and third embodiments of the present invention will be described with reference to FIGS.

FIG. 4 shows an example in which a conical scan method is employed as an antenna capable of angle measurement instead of the monopulse method shown in FIG. The fixed ground receiving station 100 has a conical scan antenna 121, and a transmission signal on which time information from the flying object 200 is superimposed is amplified by a receiver 124,
The signals are output to the angle error calculator 125, the reception intensity determiner 126, and the distance calculator 127. The angle error calculator 125 is
The signal from the receiver 124 is video-detected, the rotation drive signal from the beam rotator 123 rotating the beam of the conical scan antenna 121 and the phase detection are performed, and the azimuth and the error angle in the elevation direction are detected by the antenna driver 12.
Output to 2. Other operations are the same as those of the embodiment shown in FIG. 1 with reference to the distance initial value obtained by the distance initial value measuring device 110.

FIG. 5 is a block diagram showing another embodiment employing a faced array system instead of a monopulse system as an antenna capable of angle measurement. The phased array 131 having strong directivity provided in the ground fixed receiving station 100 includes:
Beam scanning is performed at a high speed on the area where the flying object 200 is present as in FIG. The transmission signal on which time information is superimposed from the flying object 200 is received by the phased array 131 and is received by the receiver 1
The signal is amplified by 33 and output to the angular position command device 134, the reception intensity determination device 135 and the distance calculator 136. The angle position commander 134 holds the position where the strongest reception intensity is obtained from the signals obtained by high-speed beam scanning of the region where the phased array antenna 131 has the flying object, and outputs this position to the beam controller 132. I do. Beam controller 132
Performs beam scanning on a new area centered on the position instructed by the angle position command device 134, and constantly detects the azimuth and the angle φ and θ in the erection direction received from the angle position command device 134 at the fixed ground receiving station 100. Output to the outside of.

[0023]

As described above, the flight path measuring apparatus of the present invention requires only a fixed ground receiving station capable of receiving a radio signal transmitted from a flying object at only one location near the launch point of the flying object. The flight path of the flying object can be measured.

[Easy tax statement on drawings]

FIG. 1 is a configuration diagram of a flight path measurement device showing an embodiment of a flight path measurement device according to the present invention, in which a monopulse system is used for an antenna.

FIG. 2 is a principle diagram for explaining the operation of the embodiment shown in FIG. 1;

FIG. 3 is a diagram showing a positional relationship between a flying object and a ground fixed receiving station in the flight path measuring device of the present invention.

FIG. 4 is a configuration diagram of a flight path measurement device according to another embodiment of the present invention, in which a conical scan method is used for an antenna.

FIG. 5 is a configuration diagram of a flight path measuring apparatus showing still another embodiment of the flight path measuring apparatus according to the present invention, in a case where a phased array system is used for an antenna.

FIG. 6 is a configuration diagram of a conventional flight path measurement device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 100 Ground fixed device 101 Monopulse aerial parent 103 Precomparator 104 to 106, 124, 133 Receiver 107, 125 Angle error calculator 108, 126, 135 Received intensity determiner 109, 127, 136 Distance calculator 102, 122 Antenna Commuter 110, 128, 137 Distance initial value measuring device 121 Conical scan antenna 123 Beam rotating machine 131 Phased array aerial parent 134 Angle position commander 200 Flying object 201 Transmitting child 202 Time information superimposing device 203 Antenna

────────────────────────────────────────────────── ─── Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G01S 1/68 G01S 3/42 G01S 5/00-5/14 G01S 7/00-7/42 G01S 11 / 00 G01S 13/00-13/95

Claims (9)

(57) [Claims] A flying object superimposes time information on a transmission signal and transmits the signal. A fixed ground receiving station measures the azimuth and elevation angle direction of the flying object and receives the signal by the fixed ground receiving station. The time information is extracted from the received signal, the distance from the flying object to the ground fixed receiving station is determined based on the extracted time information, and the obtained distance and a predetermined distance initial value of the flying object are obtained. A flight path measuring device for measuring a distance from the flying object to the ground fixed receiving station based on the following. In an initial state before the flying object takes off, an initial value of the distance between the flying object and the fixed receiving station on the ground is measured, and the fixed receiving station on the ground detects the initial value of the transmission signal transmitted from the flying object. The difference between the superimposed time information and the time information of the ground fixed receiving station synchronized with the time information is used as a time difference initial value before takeoff, and after the flying object has taken off, is superimposed on a transmission signal from the flying object. Time information, the difference between the time information of the ground fixed receiving station, and the time change between the time difference initial value before takeoff, and based on these information, the distance change between the flying object and the ground fixed station are detected. A flight path measuring apparatus, wherein the distance between the current flying object and the fixed receiving station on the ground is calculated by adding the calculated initial value of the distance before the flying object takes off. 3. The terrestrial fixed receiving station has means for continuously knowing the azimuth and elevation angle direction of the flying object after takeoff as viewed from the receiving station, and a sphere centered on the terrestrial fixed receiving station. 3. The flight path measurement device according to claim 1, wherein the flight path of the flying object is measured using a coordinate system. 4. A means for continuously and periodically knowing the azimuth and elevation angle of the flying object viewed from the ground fixed receiving station includes a monopulse type tracking device, a conical scan type tracking device, or a search and tracking method using a phased array radar. The flight path measurement device according to claim 1, wherein: 5. The flying object includes time information superimposing means for superimposing time information on a transmission signal, and first antenna means for transmitting the superimposed transmission signal as a radio signal. The station includes a second antenna means for receiving a radio signal transmitted from the antenna means of the flying object, and driving the second antenna means in the azimuth and elevation directions and directing the azimuth and elevation directions thereof. Antenna driving means for outputting angle information of
Receiving means for receiving a signal on which time information from the flying object captured by the antenna means is superimposed, and adding and subtracting the received signal received by the receiving means to output a Σ signal and a Δ signal in the azimuth direction and the elevation direction. Pre-comparison means,
Angle error calculation means for obtaining an angle error of the direction of arrival of the radio signal with respect to the center of the 中 beam of the second antenna from the output of the pre-comparison means and outputting an error angle signal; and a transmission time of the flying object A distance calculator that calculates the distance difference from the initial distance of the flying object from the radio signal on which the information is superimposed and outputs the distance from the flying object to the ground fixed receiving station, and in an initial state before the flying object takes off A flight path measuring device comprising: a distance initial value measuring means for measuring an initial distance value between the flying object and the fixed ground receiving station. 6. The flight path measuring device according to claim 5, wherein said second antenna means is a monopulse antenna. 7. The second antenna means is a conical scan antenna, and the angle error calculating means phase-detects a radio signal from the flying object with a rotation drive signal from a beam rotating machine of the conical scan antenna. 6. The flight path measurement device according to claim 5, wherein an error angle signal in the azimuth direction and the elevation direction is output. 8. The antenna means is a phased array antenna capable of electrically controlling a beam pointing direction, and has a beam controller for electrically changing a phase of each antenna element to control a beam pointing direction. The phased array antenna scans an arbitrary azimuth and elevation range centered on the angle at which the flying object exists, and the angle position commander performs the flight based on the point where the strength of the radio signal from the flying object is highest. The flight path measurement device according to claim 1, wherein angle signals in the azimuth direction and the elevation direction of the body are output. 9. A receiving signal strength judging means for judging whether a radio signal received by said second antenna means has a sufficient receiving strength, and when said radio signal has a sufficient receiving strength, said flying path is determined. The flight path measurement device according to claim 1 for measuring.