JP3519636B2 - Radio wave seeker - Google Patents

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a radio wave seeker mounted on a flying body such as a missile.

[0002]

2. Description of the Related Art In recent years, many flying objects have a function of automatically tracking a target in order to increase the hit rate.
Among such flying objects, there is one equipped with a target tracking device called a so-called radio wave seeker. The radio wave seeker radiates radio waves to the target, and based on the reflected wave,
Target information (distance, angle, etc.) based on the principle of tracking radar
Is what you get.

In the radio wave seeker, it is necessary to freely change the pointing direction of the radar beam so that the beam follows the target position which changes momentarily. At that time, it is important to stabilize the radar beam with respect to the space regardless of the swing of the airframe during flight.

One of the methods of changing the direction of the radar beam is to mount an antenna for transmitting and receiving radio waves on a gimbal mechanism and mechanically drive the antenna via the gimbal mechanism. The above method is called a gimbal method. In addition, in the flying body that adopts this gimbal method, as one of the space stabilization methods of the radar beam,
A strapdown system may be adopted in which the beam pointing direction is obtained based on the attitude angle of the airframe, the gimbal angle, and the radar angle measurement signal. The "beam directivity angle" in the text means the angle formed by the beam pointing direction and the aircraft axis.

By the way, in the strapdown system, in order to accurately perform spatial stabilization, the timing of detecting the attitude angle of the body (for example, by a sensor) and the timing of detecting the radar angle measurement signal may be matched. is important. Further, in the gimbal type radio wave seeker, it is important to match the detection timing of the above two values with the timing of detecting the gimbal angle (corresponding to the beam directivity angle).

However, in the conventional radio wave seeker,
The attitude angle of the airframe, the radar angle measurement signal, and the gimbal angle were detected at the same sampling rate. Therefore, the detection timing of each data may shift as shown in FIG. 4, and the spatial stabilization performance deteriorates as the timing shifts. Therefore, some measure has been desired.

As a countermeasure that has been taken conventionally, there is a method of minimizing the deviation of the detection timing by using hardware such as a sensor and signal processing software with high accuracy and high function. However, this method naturally causes an increase in cost.

As another measure, there is a method of correcting the detection timing shift using a time delay filter or the like. However, with this method, the oscillation frequency of the narrow range (aircraft oscillation frequency) depends on the frequency characteristics of the filter.
There was the inconvenience that correct time correction could only be performed in the range.

[0009]

As described above, it is difficult for the conventional radio wave seeker to accurately match the detection timing of the data required for spatial stabilization, which leads to an increase in cost. However, there is an inconvenience that a high spatial stabilization performance cannot be secured over a wide range of oscillation frequency range.

The present invention has been made under the above circumstances,
The purpose is to provide a low-cost radio wave seeker capable of ensuring high spatial stabilization performance over a wide fluctuation frequency range.

[0011]

In order to achieve the above object, the present invention relates to a radio wave seeker mounted on a flying body,
An antenna whose beam pointing direction is variable, a radar transmitting unit that radiates a radar wave from this antenna to a tracking target, a radar receiving unit that receives a radar reflected wave from the tracking target, and a radar receiving unit are provided. An angle measurement processing unit that detects an angle formed by the beam pointing direction and the tracking target based on a received signal and outputs a radar angle measurement signal, and a beam pointing angle detection that detects a beam pointing angle with respect to an aircraft axis of the flying object. Means, navigation means for detecting the attitude angle of the flying object, and space stabilization processing means for performing space stabilization processing of the radar beam based on the beam directivity angle, the angle measurement signal, and the attitude angle. The sampling rate for detecting the angle measurement signal in the angle measurement processing means is f1, and the sampling rate for detecting the beam directivity angle in the beam directivity angle detection means is 2, when the sampling rate of the attitude angle detection in the navigation device was f3, f2 = m ×
f1, f3 = n × f1 (m and n are natural numbers of 2 or more, m =
(including n).

By taking such means, the detection frequencies of the beam directivity angle and the attitude angle are each an integral multiple of the detection frequency of the angle measurement signal. Therefore, for example, by software processing, the spatial stabilization processing is performed by using the beam directivity angle detection value and the attitude angle detection value that are closest to the detection timing of the angle measurement signal, thereby minimizing the deviation of the detection timing of each data. Will be able to. That is,
Even when the detection timing of the beam directivity angle and the attitude angle deviates from the detection timing of the angle measurement signal, the correction can be performed.

As a result, it becomes possible to provide a radio wave seeker capable of ensuring a high spatial stabilization performance over a wide fluctuation frequency range by using simpler hardware and software than before, which in turn promotes cost reduction. It becomes possible.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a block diagram showing a configuration of a radio wave seeker according to an embodiment of the present invention. The radio wave seeker is mounted on, for example, a warhead of the flying body M. Figure 1
At, the radar wave is radiated from the radar transmitter 1 to the target (not shown) via the circulator 2 and the antenna 3. The reflected wave from the target is received by the radar receiver 4 via the antenna 3 and the circulator 2,
The received signal is given to the angle measurement processing unit 5. The angle measurement processing unit 5 calculates an angle (error angle: radar angle measurement signal) ε formed by the radar beam and the target from the received signal. This error angle ε is given to the spatial stabilization processing unit 6.

Here, the antenna 3 is mounted on a gimbal mechanism 8 driven by a gimbal driving section 7. The gimbal driving unit 7 detects the rotation angle (gimbal angle) G of the gimbal mechanism 8 by using, for example, an angle sensor, and gives the value to the space stabilization processing unit 6. Further, the space stabilization processing unit 6
A body attitude angle θ is input to the navigation unit 9 from, for example, an inertial navigation device.

The spatial stabilization processing unit 6 generates a gimbal control signal Gc based on the given error angle ε, gimbal angle G, and body attitude angle θ, and feeds this back to the gimbal drive unit 7 to feed the antenna. The spatial stabilization of the radar beam emitted from No. 3 is performed. That is, the radio wave seeker of the present embodiment employs a strapdown method for obtaining the beam pointing direction based on the body attitude angle θ and the error angle ε.

FIG. 2 shows the relationship among the error angle ε, the gimbal angle G, and the body attitude angle θ. That is, the error angle ε is the angle formed by the radar beam and the target, the gimbal angle G is the angle formed by the radar beam (bore sight) with respect to the machine axis of the flying object M, and the body attitude angle θ is the angle formed by the machine axis with respect to the reference axis. Respectively defined as.

The operation of the radio wave seeker of this embodiment will be described with reference to FIG. In the present embodiment, the detection timing of the body attitude angle θ and the gimbal angle G is set to four times the detection timing (sampling rate) of the angle measurement signal ε by the radar. Therefore, assuming that the detection cycle of the angle measurement signal ε is T, the detection cycle of the body posture angle θ and the gimbal angle G is T / 4.

Since this is done, even if the detection timing of the body posture angle θ and the gimbal angle G deviates from the detection timing of the angle measurement signal ε, the space stabilization processing unit 6
By using the airframe attitude angle θ and the gimbal angle G that are closest to the detection timing of the angle measurement signal ε, the deviation of the detection timing of these three data can be made almost zero.

As a result, in the radio wave seeker according to the present invention, for example, by setting the above-mentioned data whose detection timing is closest to the software to be used, high spatial stabilization performance is secured over a wide swing frequency range. It becomes possible to do.

The present invention is not limited to the above embodiment. For example, in the above embodiment, the angle measurement signal ε
The sampling rate of is multiplied by 4 with respect to the sampling rates of the body posture angle θ and the gimbal angle G, but this magnification is arbitrary. On the contrary, the sampling rate of the angle measurement signal ε may be an integral multiple of the sampling rates of the body attitude angle θ and the gimbal angle G. Further, the remaining two pieces of data may be increased at arbitrary magnifications with respect to the one having the lowest sampling rate among the angle measurement signal ε, the body posture angle θ, and the gimbal angle G.

Besides, various modifications can be made without departing from the scope of the present invention.

[0024]

As described above in detail, according to the present invention, there is provided the spatial stabilization processing means for performing the spatial stabilization processing of the radar beam based on the beam directivity angle, the angle measurement signal and the attitude angle. In the radio wave seeker, the posture angle detected at the closest point to the angle measurement signal is obtained by multiplying the sampling rate of the angle measurement signal by the sampling rate of the posture angle and the sampling rate of the beam directivity angle, respectively Since the beam directivity angle is used together with the angle measurement signal as data for spatial stabilization processing, it is possible to provide a radio wave seeker capable of ensuring high spatial stabilization performance over a wide fluctuation frequency range at low cost. It will be possible.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a radio wave seeker according to an embodiment of the present invention.

FIG. 2 is a diagram showing a relationship among an error angle ε, a gimbal angle G, and a body attitude angle θ.

FIG. 3 is a diagram for explaining the operation of the radio wave seeker according to the embodiment of the present invention.

FIG. 4 is a diagram for explaining a defect in a conventional radio wave seeker.

[Explanation of symbols]

M ... Flying body 1 ... Radar transmitter 2 ... Circulator 3 ... antenna 4 ... Radar receiver 5 ... Angle measurement processing unit 6 ... Space stabilization processing unit 7 ... Gimbal drive 8 ... Gimbal mechanism 9 ... Navigation Department ε ... error angle G ... Gimbal angle θ: Aircraft attitude angle Gc ... Gimbal control signal

Front page continuation (58) Fields surveyed (Int.Cl. ⁷ , DB name) G01S 13/00-13/95 F41G 7/24 G05D 1/12

Claims (3)

(57) [Claims] 1. A radio wave seeker mounted on a flying object, an antenna having a variable beam pointing direction, radar transmitting means for radiating a radar wave from the antenna to a tracking target, and a radar reflected wave from the tracking target. Based on the reception signal given from the radar receiving means for receiving the
An angle measurement processing unit that detects an angle formed by the beam pointing direction and the tracking target, and outputs a radar angle measurement signal; a beam pointing angle detection unit that detects a beam pointing angle with respect to the aircraft axis of the flying object; A navigation means for detecting a posture angle of a body, a spatial stabilization processing means for performing a spatial stabilization process of a radar beam based on the beam directivity angle, the angle measurement signal, and the posture angle. When the sampling rate for angle measurement signal detection by the angle measurement processing means is f1, the sampling rate for beam angle detection by the beam angle detection means is f2, and the sampling rate for attitude angle detection by the navigation means is f3, A radio wave seeker characterized by having a relationship of f2 = m × f1 f3 = n × f1 (m and n are natural numbers of 2 or more and m = n is included). 2. The antenna is mounted on a gimbal mechanism, and the beam directivity angle detecting means detects the beam directivity angle by detecting a gimbal angle of the gimbal mechanism. The radio wave seeker described in. 3. The space stabilization processing means uses a strapdown method to obtain a beam pointing direction based on the attitude angle of the flying object, the beam directivity angle, and the radar angle measurement signal, thereby spatially stabilizing the radar beam. The radio wave seeker according to claim 1 or 2, wherein the radio wave seeker is performed.