JP3748062B2 - Guiding device and guiding method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a guidance device, and more particularly to a guidance device that optically captures a threat behind a missile.
[0002]
[Prior art]
Missiles are known as flying bodies that pursue threats. For pursuit, the direction of the missile toward the target object is searched. As such a search technique, there is known a gimbal (mechanism) having a multi-dimensional axis degree of freedom as shown in FIG. The optical axis of the optical detector 102 fixed to the gimbal 101 is scanned by controlling the two-dimensional direction of the gimbal, as is known in Japanese Patent Laid-Open No. 60-33069. The direction of the target object is searched by the scanning.
[0003]
The angle change of the gimbal is limited to about 90 degrees due to physical limitations. The off-boresite angle (see FIG. 9), which is the angle between the line connecting the missile and the target object, and the direction of movement of the missile is subject to such physical limitations. Known missiles subject to such restrictions cannot search for objects behind them. Furthermore, since the missile itself obstructs the field of view, it is not possible to search for the threat behind it. In particular, air combat fighter aircraft can only escape against rear threats. Thus, known search techniques are unable to counter the threat behind the missile.
[0004]
An optical system for searching for a target is required to have a wide target capture solid angle range. There is a limit to expanding the field of view with a single optical system. Japanese Patent Laid-Open No. 10-307000 discloses the use of a reflecting mirror to expand the field of view.
[0005]
Missiles with side thrusters have been developed. Missiles with side thrusters can change their direction of movement instantaneously and have the ability to intercept back threats. Known techniques cannot capture and intercept or follow behind threats.
[0006]
It is required to establish a technology that can search for the threats behind.
[0007]
[Problems to be solved by the invention]
The subject of this invention is providing the guidance apparatus which can establish the technique searched for a back threat.
[0008]
[Means for Solving the Problems]
Means for solving the problem is expressed as follows. Technical matters appearing in the expression are appended with numbers, symbols, etc. in parentheses (). The numbers, symbols, and the like are technical matters constituting at least one embodiment or a plurality of embodiments of the present invention or a plurality of embodiments, in particular, the embodiments or examples. This corresponds to the reference numbers, reference symbols, and the like attached to the technical matters expressed in the drawings corresponding to. Such reference numbers and reference symbols clarify the correspondence and bridging between the technical matters described in the claims and the technical matters of the embodiments or examples. Such correspondence and bridging does not mean that the technical matters described in the claims are interpreted as being limited to the technical matters of the embodiments or examples.
[0009]
The guidance device according to the present invention has three axes relative to the gimbal (1, 2, 5) having three degrees of rotational freedom, the optical image detector (15), and the optical image detector (15). Two positions are selected based on one degree of freedom of rotation, and the mirror (17) is supported by the gimbal. Here, the two positions may be two positions selected from many positions, and are not limited to only the two positions. The angle between the mirror (17) and the reference optical axis of the optical image detector (15) is relatively variable, and the optical image detector (15) has a swing angle range in which it is three-dimensionally swung by the gimbal. It is possible to capture the threat that the optical path through the mirror (17) is directed to, particularly the rear threat.
[0010]
The gimbal is the same as a known gimbal, and includes a first gimbal drive shaft (3, Z), a second gimbal drive shaft (4, Y) independent of the first gimbal drive shaft (3, Z), and a first gimbal. The third gimbal drive shaft (6, X) is independent of the two gimbal drive shafts. In order to optically capture the threat in two dimensions, a third gimbal drive shaft (5, X) is further required. In this case, the mirror (17), the optical image detector (15), and a condenser lens to be described later are arranged and supported by being distributed to both axes (Z, Y) according to the following set, and the same condenser. Can have light action.
[0011]
In one set, the optical image detector (15) is supported on the first gimbal drive shaft (Z), the mirror (17) is supported on the second gimbal drive shaft (Y), and in the other set, The optical image detector (15) is supported on the second gimbal drive shaft (Y), and the mirror (17) is supported on the first gimbal drive shaft (Z).
[0012]
A condensing lens (14) is added for the two sets that are thus optically relative. The condenser lens (14) is supported by the first gimbal drive shaft (Z) or by the second gimbal drive shaft (Y).
[0013]
In one set, the condenser lens (14) is supported by the first condenser lens (14-1) supported by the second gimbal drive shaft (Y) and the second gimbal drive shaft (Y). The second condenser lens (14-2). The mirror (17) is interposed in the optical path between the second condenser lens (14-2) and the optical image detector (15). In another set, the condensing lens includes a first condensing lens supported by the first gimbal driving shaft and a second condensing lens supported by the first gimbal driving shaft, and the mirror includes the second condensing lens. It is interposed in the optical path between the condenser lens and the optical image detector (15). For such two sets, the first condenser lens and the second condenser lens are switched and used. Such superiority or inferiority of the four combinations is not generally described. The search range required is wide, the three-dimensional operating angle range of the gimbal mechanism is wide, the reflection area of the mirror is wide, the light receiving angle area of the optical image detector is wide, the focal length of the condenser lens is short, and the capture distance is short and long The most appropriate combination is selected according to the performance and application.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Corresponding to the figure, an embodiment of the guidance device according to the invention is provided with an optical detector together with a gimbal mechanism. As shown in FIG. 1, the gimbal mechanism is composed of an inner gimbal (Z-axis gimbal) 1 and an outer gimbal (Y-axis gimbal) 2 formed from a thin four-sided thin plate forming a quadrangle. . The inner gimbal 1 is supported by the same body on the Z-axis 3 supported by two opposite sides of the outer gimbal 2. The other two sides of the outer gimbal 2 are supported on the Y axis 4 in the same body.
[0015]
The inner gimbal 1 can rotate around the rotation axis of the Z axis 3 without affecting the rotation of the Y axis. The outer gimbal 2 can rotate around the rotation axis of the Y axis 3 without affecting the rotation of the Z axis. Further, a roll gimbal 5 is essential. The roll gimbal 5 is supported on the X axis 6 in the same body. The Z axis, the Y axis, and the X axis that are orthogonal to each other are respectively supported by bearings (not shown).
[0016]
An inner torquer 7 and an inner angle detector 8 are rotatably supported on the two opposite sides of the outer gimbal 2 coaxially with the Z axis 3. The rotation axes of the inner torquer 7 and the inner angle detector 8 are coaxial with the Z axis 3. The inner torquer 7 gives the inner gimbal 1 torque about the Z axis. The inner angle detector 8 detects the rotation angle of the Z axis 3. On the other two opposite sides of the outer gimbal 2, the outer torquer 9 and the outer angle detector 11 are rotatably supported coaxially with the Y axis 4 respectively. The rotation axes of the outer torquer 9 and the outer angle detector 11 are coaxial with the Y axis 4.
[0017]
The outer torquer 9 applies torque about the Y axis to the outer gimbal 2. The outer angle detector 11 detects the rotation angle of the Y axis 4. A roll torquer 12 and a roll angle detector 13 are rotatably supported coaxially with the X axis 4. The rotation axes of the roll torquer 12 and the roll angle detector 13 are coaxial with the X axis 6. The roll torquer 12 applies a torque around the X axis to the X axis 6. The roll angle detector 13 detects the rotation angle of the X axis 6.
[0018]
In the inner gimbal 1, an optical system that detects light emitted from the target object is fixedly set. As the optical system, a CCD camera is preferably exemplified, and includes a condenser lens 14 and a one-dimensional or two-dimensional optical detector 15. The basic optical axis L of the optical system coincides with the rotational axis of the X axis 6 when initial conditions are set.
[0019]
An arm 16 that is the same body is attached to one side of the outer gimbal 2 through which the Y axis 4 passes. The arm 16 extends forward from one side in the X-axis direction. A mirror 17 is attached to the front end of the arm 16.
[0020]
When the angle between the inner angle detector 8 and the outer angle detector 11 is zero at the same time, the Y axis 4 and the Z axis 3 are orthogonal to the X axis 6 and the basic optical axis L is coincident with the X axis 6. In addition, mechanical initial conditions and geometric initial conditions of the inner gimbal 1, the outer gimbal 2, and the roll gimbal 5 are given. At the time of setting such initial conditions, the optical system can detect an object on the basic optical axis L or an object within the viewing angle range thereof, and the real image of the object is the origin or origin of the optical detector 15. Form an image in the vicinity.
[0021]
When the inner torquer 7 and the outer torquer 9 operate in a subordinate manner, the basic optical axis L rotates around the Z axis 3 in an appropriate angular range clockwise, and is already counterclockwise around the Z axis 3. The basic optical axis L rotates in the angular range clockwise around the Y axis 4 and rotates in the angular range counterclockwise around the Y axis 4. be able to. When the outer gimbal 2 rotates around the Y axis 4 by the operation of the outer torquer 9, the mirror 17 rotates together with the inner gimbal 1 together with the arm 16. When the inner gimbal 1 rotates around the Z axis 3 by the operation of the inner torquer 7, the basic optical axis L can be directed toward the mirror 17.
[0022]
FIG. 2 shows the setting direction of the basic optical axis L when the off-bore sight angle is zero or 90 degrees. The inner gimbal 1 is accommodated in a glass dome 22 disposed at the head portion of the missile body 21. When the off-bore sight angle is in the range of 0 to 90 degrees, the basic optical axis L is directed to the initial reference direction and deviated from the reflecting surface 23 of the mirror 17.
[0023]
FIG. 2A shows the missile body 21 having an off-bore sight angle of zero degrees. The basic optical axis L shown in FIG. 2A coincides with the machine axis L ′ of the missile body 21 and faces the target object. FIG. 2B shows the missile body 21 having an off-bore sight angle of 90 degrees. The basic optical axis L shown in FIG. 2B is orthogonal to the machine axis L ′ and faces the target object. Also in this case, the mirror 17 does not exist in the solid angle range seen by the optical detector 15 via the condenser lens 14.
[0024]
FIG. 3 shows the setting direction of the basic optical axis L when the off-bore sight angle is 90 degrees or 180 degrees. When the off-boresight angle is in the range of 90 degrees to 180 degrees, the basic optical axis L is directed to the reflecting surface 23 of the mirror 17, and the mirror 17 is in the range of the light cone with the basic optical axis L as the central axis. Existing. The angle between the basic optical axis l and the reflecting surface 23 of the mirror 17 is set to an appropriate angle. The appropriate angle is exemplified by 45 degrees, but may be theoretically arbitrary.
[0025]
FIG. 3A shows a missile body 21 having an off-bore sight angle of 90 degrees. FIG. 3B shows the missile body 21 having an off-bore sight angle of 180 degrees. The basic optical axis L shown in FIG. 3A coincides with the machine axis L ′ of the missile body 21, and the missile body 21 captures the target object in a direction orthogonal to the machine axis L ′. In this case, the mirror 17 exists in the solid angle range seen by the optical detector 15 via the condenser lens 14. In the position state shown in FIG. 3B, the Y axis 4 is rotated 90 degrees with respect to the initial set angle position. The basic optical axis L is orthogonal to the machine axis L ′ and faces the target object.
[0026]
If there is a threat in the solid angle range between the position of FIG. 3 (a) that captures the threat next to it and the position of FIG. 3 (b) that captures the threat behind, the optical detector 15 causes the reflecting surface 23 to be reflected. To capture threats. The basic optical axis L is controlled to be biaxially rotated by the roll torquer 12 and the outer torquer 9 while facing the reflecting surface 23 in the fixed direction.
[0027]
The arm 16 can be attached to the outer gimbal 2 in the same body. In this case, the mirror 17 is disposed on the arm 16 so as to be movable back and forth with respect to the basic optical axis L.
[0028]
FIG. 4 shows another embodiment of the guidance device according to the invention. Instead of the cantilever arm 16, a both-handed arm 16 ′ is attached to the outer gimbal 2 in the same body. Instead of the condenser lens 14, two condenser lenses are used. The two condenser lenses are formed as a front condenser lens 14-1 and a rear condenser lens 14-2. The center line of the light cone corresponding to the viewing angle of the front condenser lens 14-1 is orthogonal to the center line of the light cone corresponding to the viewing angle of the rear condenser lens 14-2. The forward threat image collected by the forward condenser lens 14-1 is collected by the optical detector 15. The rear threat image collected by the rear condensing lens 14-2 is collected by the optical detector 15 by the light guiding optical system formed by the mirror 24 (see FIG. 5) built in the both-handed arm 16 ′. Lighted.
[0029]
The point that the rear condensing lens 14-2 is used and the both-end arm 16 'rises at a large angle by the outer torquer 9 is the same as that of the embodiment of FIG. The point that the forward search and the backward search are selectively switched by the selection or switching of the two angular positions of the inner gimbal 1 is the same as the previous embodiment, but in the present embodiment, the condensing lenses 14-1, The forward search and the backward search are selectively switched by the selective use of 2. FIG. 5A shows a forward search when the off-bore sight angle is in the range of 0 to 90 degrees, and FIG. 5B is a backward search when the off-bore sight angle is in the range of 90 to 180 degrees. Is shown.
[0030]
FIGS. 6A and 6B show other condensing optical systems in which the condensing optical system in FIGS. 5A and 5B is simplified. In the optical system of FIGS. 6A and 6B, one of the two lenses of the relay optical system of FIGS. 5A and 5B is omitted.
[0031]
FIG. 7 shows still another embodiment of the guidance device according to the present invention. A box 25 is attached to the Z axis 3. A condensing lens 14 and a mirror 17 are attached to the box 25. The optical detector 15 is attached to the outer gimbal 2. In the embodiment of FIG. 1, the condenser lens 14 and the optical detector 15 are attached to the inner gimbal 1, and the mirror 17 is attached to the outer gimbal 2. In the embodiment of FIG. 1, the condensing lens 14 and the optical detector 15 are selectively switched to the same body, but in the present embodiment, the condensing lens 14 and the mirror 17 are the same body. Their orientation is selectively switched. The optical system for forward / backward search in the embodiment of FIG. 1 is relative to the optical system for forward / backward search in the present embodiment, and both optical systems are the same in terms of the optical action of threat capture.
[0032]
【The invention's effect】
The guidance device according to the present invention can establish a technique for searching for a backward threat.
[Brief description of the drawings]
FIG. 1 is an oblique projection showing an embodiment of a guidance device according to the present invention.
FIGS. 2A and 2B are a plan view and a front view showing forward search in two directions, respectively.
FIGS. 3A and 3B are a plan view or a front view showing backward search in two directions, respectively.
FIG. 4 is an oblique projection showing another embodiment of the guidance device according to the present invention.
FIGS. 5A and 5B are a plan view or a front view showing another forward search in two directions, respectively.
FIGS. 6A and 6B are a plan view or a front view showing another backward search in two directions, respectively.
FIG. 7 is an oblique axis projection view showing still another embodiment of the guidance device according to the present invention.
FIG. 8 is an oblique projection showing a known guidance device.
FIG. 9 is a plan view showing the definition of an angle.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1, 2 ... Gimbal 3, Z ... 1st gimbal drive shaft 4, Y ... 2nd gimbal drive shaft 14 ... Condensing lens 14-1 ... 1st condensing lens 14-2 ... 2nd condensing lens 15 ... Optical Image detector 17 ... mirror

Claims (7)

A gimbal with three-axis rotational freedom,
An optical image detector for detecting incident light from the target ;
Mirror,
A condensing lens for condensing incident light on the optical image detector;
The gimbal is
A first gimbal drive shaft;
A second gimbal drive shaft that is independent of the first gimbal drive shaft;
A third gimbal drive shaft that is independent of the second gimbal drive shaft;
The optical image detector and the condenser lens are supported by the first gimbal drive shaft,
The mirror is supported by the second gimbal drive shaft;
By driving the first gimbal drive shaft, the relative position between the optical image detector and the mirror is changed, and the incident light from the target according to the relative position passes through the mirror. Alternatively, a guiding device that enters the condenser lens without passing through the mirror . A gimbal with three-axis rotational freedom,
An optical image detector for detecting incident light from the target;
Mirror,
A condensing lens for condensing incident light on the optical image detector;
The gimbal is
A first gimbal drive shaft;
A second gimbal drive shaft that is independent of the first gimbal drive shaft;
A third gimbal drive shaft that is independent of the second gimbal drive shaft;
The optical image detector is supported by the first gimbal drive shaft,
The condenser lens and the mirror are supported by the second gimbal drive shaft,
By driving the first gimbal drive shaft, the relative position of the optical image detector and the mirror is changed,
The condensing lens condenses incident light from the target on the optical image detector via the mirror or without the mirror depending on the relative position . A gimbal with three-axis rotational freedom,
An optical image detector for detecting incident light from the target;
Mirror,
A condensing lens for condensing incident light on the optical image detector;
The gimbal is
A first gimbal drive shaft;
A second gimbal drive shaft that is independent of the first gimbal drive shaft;
A third gimbal drive shaft that is independent of the second gimbal drive shaft;
The condenser lens and the mirror are supported by the first gimbal drive shaft;
The optical image detector is supported by the second gimbal drive shaft;
By driving the first gimbal drive shaft, the relative position between the optical image detector and the mirror is changed, and the incident light from the target according to the relative position passes through the mirror. Alternatively, a guiding device that enters the condenser lens without passing through the mirror . The condenser lens is
A first condenser lens supported by the second gimbal drive shaft;
A second condenser lens supported by the second gimbal drive shaft;
The mirror is induction device according to claim 2 which is interposed in the optical path between the optical image detector, the second condenser lens. The condenser lens is
A first condenser lens supported by the first gimbal drive shaft;
A second condenser lens supported by the first gimbal drive shaft;
The guidance device according to claim 3 , wherein the mirror is interposed in an optical path between the second condenser lens and the optical image detector. The guidance device according to claim 4 or 5 , wherein the first condenser lens and the second condenser lens are used by being switched. A guidance method for guiding a flying object equipped with the gimbal using a gimbal having three-axis freedom, comprising a plurality of steps,
The plurality of steps include:
Changing the relative position between the mirror connected to the gimbal and the optical image detector by driving a first gimbal drive shaft having one of the three degrees of freedom ;
Two-dimensionally controlling the mirror by driving second and third gimbal drive shafts having other two-axis degrees of freedom among the three-axis degrees of freedom ;
Incident light from the target is incident on the optical image detector via the mirror .

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