JP3391869B2 - How to guide moving objects - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, a moving object used to fly an autonomously flying object (moving object) along a predetermined trajectory (path). And a method of inducing. 2. Description of the Related Art Conventionally, for example, when a flying object is caused to fly along a predetermined trajectory, as shown in FIG. Point) E1 to E5 are set, and at each stationary target point E1 to E5, the flying object 5 is enlarged as shown in the circle of FIG.
The trajectory 51 is passed through the stationary target points E1 to E5 sequentially while correcting the position and speed by operating the trajectory correction acceleration source based on information from an inertial navigation device (not shown) mounted on the flying object 51. It is designed to fly along a predetermined route A1. In this case, the position coordinates at the plurality of stationary target points E1 to E5 are calculated by a launch control device (not shown) according to the target information at the end of the trajectory, and transmitted to the flying object 51 before the launch. The information is stored in the inertial navigation device of the flying object 51. [0004] As a method of guiding the moving body, there is, for example, a proportional navigation described in “Encyclopedia of Missile Engineering”, December 10, 1990, pp. 522 to 534, published by Hara Shobo. [0005] However, in the above-described conventional method for guiding a moving body, each of the stationary target points E1 to E
Since the position and velocity are corrected each time the vehicle passes through the trajectory 5, the flying object 51 can be made to fly along the predetermined trajectory A1 with relatively high accuracy, but the trajectory requires a large speed change. When flying along, it is necessary to set a large number of stationary target points, and as a result, the amount of calculation of position coordinates at each stationary target point performed by the launch control device and the amount of storage in the inertial navigation device are enormous. However, there is a problem that the above problem occurs, and it has been a conventional problem to solve this problem. SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and has a small amount of information and lowers the accuracy even when a predetermined route is complicated. It is an object of the present invention to provide a method for guiding a moving body that can move the moving body along this route without any need. According to the method of guiding a moving body according to the present invention, when moving the moving body along a predetermined route, a moving target for guidance is set at a position near the route in the middle of the route. Setting and determining a visual line angle change rate and a relative speed between the moving body and the mobile target for guidance based on the position coordinates and the velocity vector of the mobile target for guidance, and using the visual line angle change rate and the relative speed, The mobile acceleration is calculated by the simple tracking proportional navigation, and the mobile acceleration is generated by the operation of the trajectory correction acceleration source provided in the mobile body, and the mobile body takes a simple tracking course and rides on a predetermined route. It is characterized by having a configuration, and the configuration of such a method for guiding a moving body is a means for solving the above-described conventional problem. In the method of guiding a moving object according to the present invention, the above-described configuration is adopted. When the guidance of the moving object is started, the simple tracking proportional navigation is performed by the operation of the trajectory correction acceleration source. The calculated mobile acceleration is generated in the moving object, and follows the guidance moving target set at a position near the route in the middle of the route, that is, moves on a simple tracking course. If the flying object is located at and the guidance moving target is set to move in the horizontal direction, this flying object performs a raising operation to follow the guidance moving target in the horizontal direction, that is, to follow a predetermined route. It will move along. That is, even if the predetermined route is complicated, the moving body moves along this route with a small amount of information and high accuracy. The present invention will be described below with reference to the drawings. FIG. 1 to FIG. 4 show one embodiment of a method for guiding a moving body according to the present invention.
This shows a case where the moving object is a flying object that is launched from the ground and flies in a trajectory. As shown in FIG. 4, the flying object 1 has a steering wing 2 as a trajectory correction acceleration source, and is launched from the launcher 3. The trajectory A of the flying object 1 is created by a launch control device (not shown) based on the target information located at the end of the trajectory A, and is transmitted to the inertial navigation device of the flying object 1. As shown in FIG. 3, the trajectory A is set so that the flying object 1 performs a trajectory flight from an initial stage to an intermediate stage, and then makes a horizontal flight at an end stage. When the projectile 1 is caused to fly along the trajectory A, the launch control device sets the guidance moving target EP at a position near the trajectory A in the middle of the trajectory A as shown in FIG. Like that. In this case, the X coordinate X _T of the position coordinates (X _T , Y _T ) of the guidance moving target EP is the X coordinate X _{M of the} flying object 1.
, And the Y coordinate Y _T is the horizontal flight altitude at the end stage of the trajectory A, that is, in this embodiment, the horizontal flight altitude (0) Is set to Meanwhile, the X-direction velocity component Vx _T for guiding movement target EP, together with a β times the X-direction velocity component Vx _M projectile 1, Y-direction velocity component Vy _T is above sea level the projectile 1 Is set to 0 because of horizontal flight. [0016] Then, as shown in the feedback control system of FIG. 2, after the Mobile acceleration n _T of the guiding moving target EP as a reference input signal and Laplace transform in block 11, in block 12, the moving target EP for induction The position coordinates (X _M + α, 0) and velocity vector (β · V
x _M , 0), and the visual line angle change rate d is calculated by Expression 1 based on Expression 1.
lambda / dt and obtains the relative velocity _{V C} of the guiding movement target EP and projectile 1, [0017] [Equation 1] _{dλ / dt = (Vy TM ·} X TM -Vx TM
^{_{· Y TM) / {(X}} TM) 2 + (Y TM) 2} V C = (- Vy TM · X TM -Vx TM · Y TM) /
^{_{{(X TM) 2 + (}} Y TM) 2} 1/2 where _{X TM = α Y TM = Y} T -Y M = -Y M (∵Y T = 0, Y M is the projectile 1 Y coordinates) _{Vx TM = β · Vx M -Vx} M Vy TM = -Vy M (Vy M is of the flying object 1 Y
Direction velocity component) In addition, at block 13, by performing a simple tracking proportional navigation using eye gaze angle change rate d [lambda] / dt, and the relative velocity V _C obtained in Equation 1, a simple tracking course projectile 1 according to Equation 2 Maneuvering acceleration n _M to be taken and put on orbit A
## EQU2 ## n _M = N ′ · dλ / dt · V _C
(N'effective navigation constant) in block 14, by actuating the control surfaces 2 gives acceleration command n _C to steering wing 2, Mobile acceleration n _M
Is caused. [0019] In this feedback control system, and Mobile acceleration n _M is compared with a reference input signal as a main feedback signal, determines the acceleration command n _C to the difference (control deviation) to zero. In such a guiding method, the launcher 3
When the flying object 1 launched from the aircraft reaches the position P shown in FIGS. 1, 3 and 4 after completing the trajectory flight from the initial stage to the intermediate stage, the operation of the steering wing 2 causes the simple tracking proportional navigation described above. Since the calculated mobile acceleration nM is generated in the flying object 1, the flying object 1 performs a raising operation,
Following the guidance moving target EP that moves in the horizontal direction set in the vicinity of the middle of the trajectory A, the flying object 1 flies on a simple tracking course. As a result, the flying object 1
It will fly along the predetermined trajectory A. Therefore, in this guidance method, even in the case of the trajectory A in which a rapid change in speed is required as described above, it is only necessary to set one point of the movement target EP for guidance.
That is, it is possible to fly the flying object 1 along the trajectory A with high accuracy only by giving a small amount of information. In the above-described embodiment, a case has been described in which the method for guiding a moving object according to the present invention is employed for guiding a flying object. However, the present invention is not limited to this, and is applied to, for example, traveling guidance for an unmanned vehicle. It is also possible. Further, the detailed structure of the method for guiding a moving object according to the present invention is not limited to the above-described embodiment. As described above, the moving object guidance method according to the present invention employs the above-described configuration, so that a small amount of information and a high amount of information can be obtained even when the predetermined route is complicated. An extremely excellent effect that it is possible to move the moving body along this path with high accuracy is provided.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a graph showing a positional relationship between a flying object (moving object) and a moving target for guidance according to an embodiment of the method for guiding a moving object according to the present invention. FIG. 2 is a block diagram of a feedback control system using simple tracking proportional navigation in the moving object guidance method shown in FIG. FIG. 3 is a graph showing a trajectory of a flying object that flies by the method for guiding a moving object in FIG. 1; FIG. 4 is an explanatory perspective view showing a flying situation after launching of the flying object by the moving object guiding method in FIG. 1; FIG. 5 is an explanatory view conceptually showing a conventional moving object guiding method. [Description of Signs] 1 Flying object (moving object) 2 Steering wing (trajectory correction acceleration source) A Predetermined trajectory (predetermined route) EP Moving target for guidance

Claims (1)

(1) When moving a moving body along a predetermined route, a guidance moving target is set at a position near the route in the middle of the route, and the guidance moving target is set. The visual line angle change rate and the relative speed between the moving body and the guidance target are determined based on the position coordinates and the velocity vector, and the mobile acceleration is calculated by simple tracking proportional navigation using the visual line angle change rate and the relative speed. Calculating and operating the trajectory-correcting acceleration source provided in the moving body to generate the mobile acceleration to cause the moving body to take a simple tracking course and ride on a predetermined route. Method.