JP3813744B2 - Rotating angle measuring device and measuring method of rotating projectile - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a rotational angle measuring device for a rotating projectile that measures the rotational angle of a cannonball or other rotating projectile, and a measuring method thereof.
[0002]
[Background]
Conventionally, a rotating projectile that flies freely while rotating, such as a shell, is controlled by injecting a plurality of side thrusters provided on the peripheral surface of the shell to accurately land the shell at a target landing position. It has been known.
At this time, in order to determine which side thruster is injected to change the flight state of the shell, it is necessary to accurately grasp the rotation angle of the shell that is a rotating projectile.
[0003]
[Problems to be solved by the invention]
For this reason, it is necessary to mount a device for measuring the rotation angle on the cannonball. However, in a gyro or the like generally used in missiles or the like, it can withstand extremely high acceleration at the time of firing the cannonball, that is, high launch G. If it is made into a thing, there will be a problem that it becomes very expensive and is not practical.
On the ground, it is possible to measure the rotation angle by measuring the direction of gravity, but since the cannonball flies freely, gravity can be felt by the accelerometer provided on the cannonball during the fall process. There is no or very little gravity, so it is difficult to measure gravity and the rotation angle cannot be measured.
[0004]
Further, in Japanese Patent Laid-Open No. 4-104000, a rotation angle is obtained from an angular velocity obtained by an optical fiber gyro provided on a rotating cannonball, and an image signal from an image device also provided on the cannonball is converted into polar coordinates. There is disclosed a guiding method for guiding bullets in which the above-mentioned rotation angle is subtracted and image recognition is performed after digital integration of the image signal to steer the shell to one point in polar coordinates.
[0005]
However, the invention described in Japanese Patent Laid-Open No. 4-104000 has a problem that an expensive configuration such as an optical fiber gyroscope or an image device is required, and the entire device is not economical. In addition, as a method of simply measuring the number of rotations, there is a method in which a photosensor is attached perpendicularly to the rotation axis of a rotating body and the number of rotations is obtained from the regularity of the output, but the position of the sun and the brightness of the ground Because of the irregularity, it is not possible to have a reference position, so that the rotation speed can be measured, but the rotation angle cannot be measured.
[0006]
An object of the present invention is to provide a measuring apparatus and a measuring method thereof that can measure the rotation angle of a rotating flying object at a low cost with a simple configuration.
[0007]
[Means for Solving the Problems]
The present invention has been made by paying attention to the fact that the infrared radiation energy of the sky varies depending on the elevation angle, and by using an infrared detection means such as an infrared sensor as a sensor to be used, it can withstand a high firing G of a shell. It is possible to achieve the above object as an element that does not have a movable part that can be seen in a gyroscope or the like.
[0008]
Specifically, the invention according to claim 1 is provided in a rotating flying object that freely flies while rotating, and the rotating flying object. , Detecting infrared rays in the sky above the horizontal direction when the rotating projectile falls Infrared detection means and radiation energy detected by the infrared detection means , Of the rotating projectile From differences in detection values based on rotation angle , A rotational angle measuring device for a rotating flying object, comprising: a reference position calculating means for calculating a reference position; and a rotation angle calculating means for calculating a rotation angle of the rotating flying object from a comparison between the reference position by the reference position calculating means. .
[0009]
According to the present invention, the rotation angle of the rotating projectile can be calculated by detecting the difference based on the elevation angle of the sky radiant energy by the infrared detection means, so that the rotation angle can be detected by an inexpensive detection means having no moving parts. . Therefore, it can sufficiently withstand high-launch G such as cannonballs, and the entire apparatus can be manufactured at low cost.
[0010]
According to a second aspect of the present invention, in the rotational angle measurement device for the rotating projectile according to the first aspect, the infrared detecting means is inclined at a predetermined angle toward the rear of the rotating projecting unit with respect to the direction orthogonal to the rotational axis of the rotating projecting unit. This is an apparatus provided on the rotating flying object with an offset angle.
[0011]
According to the present invention, since the mounting angle of the infrared detecting means with respect to the rotating projectile is inclined by a predetermined angle toward the rear of the rotating projectile, in the rotating projectile falling at a predetermined angle while rotating, infrared detection is performed. Compared with the case where the infrared rays detected by the means are provided in the orthogonal direction on the rotating flying object, the amount of infrared rays received from the ground is reduced, and the disturbance of the received radiant energy can be reduced.
At this time, if the offset angle of the infrared detecting device is set to be equal to or smaller than the falling angle of the rotating flying object as in the invention described in claim 3, infrared detection by the infrared detecting means is performed only in the zenith direction above the horizontal direction. Therefore, the measurement accuracy can be further improved without receiving irregular infrared rays from the ground.
[0012]
According to a fourth aspect of the present invention, in the rotational angle measuring device for a rotating projectile according to any one of the first to third aspects, the infrared detecting means is an infrared ray having a wavelength of 3 to 5.5 μm and / or 7 to 14 μm. Is a device that detects radiant energy and measures its radiant energy.
According to the present invention, since the rotation angle is measured by detecting only the infrared wavelength range in which the radiant energy intensity greatly differs depending on the observation elevation angle, the zenith direction, and hence the rotation angle can be measured more clearly. .
[0013]
According to a fifth aspect of the present invention, in the rotational angle measuring device for a rotating projectile according to any one of the first to fourth aspects, the reference position calculating means rises and falls of the radiant energy detected by the infrared detecting means. Is a device that calculates a reference position based on the center position obtained by measuring a location having the same radiant energy as the center position.
[0014]
According to the present invention, the center position is obtained by the rise and fall of the radiant energy even if the infrared detection by the infrared detection means is set for the rotating projectile in the direction including the infrared from the ground. Therefore, even if it is difficult to detect the center position by unnecessary infrared rays from the ground, the center position of the radiant energy can be obtained, and thereby the rotation angle of the rotating projectile can be measured.
[0015]
According to a sixth aspect of the present invention, in the rotational angle measurement device for a rotating projectile according to the third aspect, the reference position calculation means measures a peak of radiant energy detected by the infrared detection means, and the peak position is measured at the peak position. A rotation angle measuring device for a rotating projectile that calculates a reference position based on the rotation position.
[0016]
According to this invention, the infrared radiation radiant energy peak value can be detected by providing the infrared detection means tilted toward the rear of the rotating flying object in the invention of claim 3, and thus the reference position is calculated based on this peak value. Therefore, the reference position can be set very easily, and the apparatus can be configured more simply and inexpensively.
[0017]
According to a seventh aspect of the present invention, in the rotational angle measuring device for a rotating projectile according to any one of the first to sixth aspects, the rotating projectile is a cannonball, and a shell is projected on a peripheral surface of the cannonball. A plurality of side thrusters for changing the state are provided, and the shell is provided with side thruster driving means for driving a predetermined side thruster from the rotation angle from the rotation angle calculation means and the ballistic correction signal.
As in the present invention, when the rotating projectile is a cannonball, the rotation angle of the cannonball can be accurately measured, and the side thruster can be driven based on the measurement result. Therefore, the bullet landing position can be accurately set to the target landing position. Can be guided to.
[0018]
In the invention of claim 8, infrared detecting means is provided in a rotating flying object that freely flies while rotating, and the infrared detecting means Based on the infrared rays detected in the sky above the horizontal direction when the rotating projectile falls, Detects the radiant energy around the rotating projectile, calculates the reference position from the difference in the detection value based on the rotation angle of this radiant energy, calculates the rotation angle of the rotating projectile from the comparison with this reference position, and rotates A rotation angle measurement method for a rotating projectile, characterized in that the rotation angle of the flying object is measured.
According to the present invention, the rotational angle of the rotating projectile can be measured at a low cost as in the first aspect.
[0019]
The invention according to claim 9 is the rotation angle measurement method for a rotating projecting object according to claim 8, wherein the infrared detection means detects infrared rays having a wavelength of 3 to 5.5 μm and / or 7 to 14 μm, and radiates energy thereof. It is a method to measure.
According to the present invention, as in claim 4, a more accurate rotation angle can be measured efficiently.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0021]
First, the idea for devising the present invention will be described with reference to FIGS.
FIG. 7 shows the characteristics of sky infrared radiation energy obtained by simulation. The horizontal axis represents the infrared wavelength (μm), and the vertical axis represents the radiation energy intensity (mW / cm). ² / Sr / μm), and the numbers written in the vicinity of each curve in the characteristic curve in the figure indicate the observation elevation angle, the observation elevation angle of 0 degrees indicates the horizontal direction, and 90 degrees indicates the zenith direction. Further, the calculation conditions of FIG. 7 are sensor (detector) altitude = 1000 m, the region is a mid-latitude region, the season is summer, and the weather is clear. Furthermore, the wave number resolution is 5 cm. ^-1 It is.
[0022]
As can be seen from this figure, in the infrared wavelength region of about 3 to about 5.5 μm and about 7 to about 14 μm, the intensity of the infrared radiation energy in the zenith direction and the infrared radiation energy in the horizontal direction are different. At intermediate angles, they have an intermediate energy intensity.
Therefore, by measuring this energy intensity difference, it is possible to measure the angle of observation elevation, and if the rotating projectile itself is provided with a means for measuring this energy intensity, the rotating projectile itself It can be seen that the rotation angle can be measured.
[0023]
8 and 9 are schematic configuration diagrams of an embodiment in the case where the present invention is applied to a shell as a rotating flying object.
In FIG. 8, a cannonball 10 as a rotating flying object is provided with an infrared detecting means 20 at the tip fuze part, a control wing 11 for stabilizing the rotation of the rotating flying object at the rear part, and as a rotating flying object at an intermediate part. A side thruster (rocket motor, propulsion means) 12 for changing the flight state of the cannonball 10 is provided.
[0024]
The cannonball 10 falls while turning at a predetermined rotational speed, for example, about 10 Hz = 3600 rpm, with the central axis R as the rotational axis. At this time, the central axis R and the ground (horizontal line) H fall at an angle of drop P. On the other hand, the infrared measurement direction of the infrared detection means 20 is set to be inclined at a predetermined angle toward the rear of the shell 10 with respect to the axis S orthogonal to the central axis (rotation axis) R. An angle formed with the axis R is an offset angle Q.
[0025]
Note that the drop angle P and the offset angle Q are preferably set to be equal. When these angles are equal, the infrared measurement direction of the infrared detection means 20 is measured above the horizontal direction, that is, only the zenith direction, and from the horizontal direction. The lower infrared rays are not measured, and the influence of irregular infrared radiation energy radiated from the ground H or the like is reduced.
[0026]
As shown in FIG. 9, the infrared detection means 20 includes an optical lens 21 that collects infrared rays, and the infrared rays collected by the optical lens 21 pass only by a wavelength necessary for measurement by the optical filter 22. And input to the infrared sensor 23. An amplifier 24 is connected to the sensor 23, and the output of the sensor 23 is amplified and then input to the electrical filter 25, and a frequency unnecessary for signal processing is cut. The output from the electrical filter 25 is input to the computer 26, and appropriate signal processing (to be described later) is performed by the computer 26 to obtain the rotation angle.
[0027]
Next, the difference in the output of the infrared detection means 20 due to the difference in the infrared measurement direction of the infrared detection means 20 will be described with reference to FIGS.
Here, a case where the drop angle P of the cannonball 10 is set to 60 degrees will be described.
[0028]
FIG. 10 is a view in the case where the mounting angle of the infrared detecting means 20 is perpendicular to the rotation axis R of the shell 10 (90 degrees). At this time, if the rotation angle of the infrared detection means 20 in the infrared measurement direction is α and the angle of each rotation angle of the infrared detection means 20 with respect to the horizontal plane, that is, the elevation angle is θ, in FIG. Like the curve shown, the elevation angle θ of the infrared detecting means 20 measures a range from +30 degrees on the sky side to −30 degrees on the ground side from the horizontal line (= 0 degree), and is shown in the upper part of FIG. A waveform like the characteristic will be output. In FIG. 12, in this example, the radiation in the sky direction generally does not show a minimum value as in this figure. On the other hand, the signal from the ground surface exhibits non-regular characteristics due to the influence of various heat sources provided on the ground. FIG. 12 shows the simulation when there is no cloud.
[0029]
FIG. 11 shows a diagram in which the attachment offset angle Q of the infrared detecting means 20 is set to 60 degrees from the rotation axis R of the shell 10, that is, equal to the drop angle P. The elevation angle θ of the infrared detecting means 20 in this case also changes with the rotation angle α of the shell 10 and is the sky above the horizontal direction (0 degree) as shown by the curve shown on the right side of the shell 10 in FIG. Only the range of 60 degrees will be measured.
The detection waveform of the infrared detection means 20 in this case is a waveform like the lower curve in FIG. 12, and has a peak when measured in the horizontal direction (180 degree direction) based on the infrared radiation characteristics of the sky. Output waveform.
[0030]
In FIG. 12, when the infrared detection means 20 is provided at a right angle to the rotation axis as shown in FIG. 10, the output waveform of the infrared detection means 20 has a peak value in the horizontal direction due to a disturbance signal from the ground surface. 11, the location where the detected radiant energy rises and falls has the same radiant energy is measured to obtain the center position, and the calculation is performed with the center position as a peak value. As shown, the same treatment as when the infrared detection means 20 is offset to the same angle as the drop angle P can be performed.
[0031]
As described above, the infrared detection means 20 is mounted on the shell 10 itself, and the difference between the characteristic values based on the elevation angle of the infrared radiation characteristics of the sky is measured, so that the peak value of the output waveform or the calculation of the rise and fall can be obtained. It can be seen that the horizontal direction, and hence the zenith direction, can be measured, and the peak value, that is, the rotation angle of the shell 10 as a rotating projectile can be measured with the horizontal position or the zenith position as a reference position.
[0032]
Next, based on FIG. 1 thru | or FIG. 3, one Embodiment which applied the rotation angle measuring apparatus of the rotary flying body concerning this invention and its measuring method to a cannonball is described.
Here, in each constituent member of the present embodiment, the same or corresponding components as those in the description of the basic configuration described above are denoted by the same or corresponding reference numerals, and description thereof is omitted or simplified.
[0033]
FIG. 1 shows a schematic configuration of this embodiment, and a ballistic radar 31 for tracking a cannonball 10 is provided on the side of a gun for firing a bullet, and the output of this ballistic radar 31 is an initial speed measuring means 41 of a computing device 40. And the trajectory measuring means 42.
In addition to the initial velocity measuring means 41 and the ballistic measuring means 42, the arithmetic device 40 receives the signals from the initial velocity measuring means 41 and the ballistic measuring means 42 and measures the trajectory of the shell 10 and the trajectory. The same as the signal from the expected impact landing calculation means 44 and the expected impact landing calculation means 44 for calculating the expected impact landing from the signal from the calculation means 43 and the air resistance and weather information stored in the storage means (not shown). The ballistic correction amount calculating means 45 for calculating the ballistic correction amount from the target landing point stored in the storage means that does not, and the number of injections and the injection timing of the side thrusters 12 in the cannonball 10 by the signal from the ballistic correction amount calculating means 45 And the side thruster injection number and timing calculation means 46 are provided. The ballistic correction amount signal from the number of side thrusters and the timing calculation means 46 is transmitted to the shell 10 via the transmission means 33.
[0034]
On the side of the shell 10, in addition to the receiving means 13, the infrared detecting means 20 and the peak value received from the infrared detecting means 20 or the center position calculated by calculation, or in the horizontal direction or directly therewith. From the reference position calculation means 14 for calculating the zenith direction, that is, the reference position, the rotation angle calculation means 15 for calculating the rotation angle of the shell 10 based on the signal from the reference position calculation means 14, and the rotation angle calculation means 15 And a side thruster drive device 16 for outputting a drive signal to the side thruster 12 by a ballistic correction amount signal input via the receiving means 13, and a plurality of side thruster drive devices 16 provided on the peripheral surface of the shell 10. And a side thruster 12 that is driven by a signal to change the flight state (ballistic trajectory) of the shell 10.
[0035]
The operation of the present embodiment configured as described above will be described with reference to the schematic diagram of FIG. 2 and the flowchart of FIG.
2 and 3, when the shell 10 is fired from the gun 30 (FIG. 3, step 71), the fired shell 10 is observed by the ballistic radar 31 for its initial velocity and subsequent ballistics, and these signals are The initial speed and the trajectory are measured by the initial speed measuring means 41 and the trajectory measuring means 42 after being input to the arithmetic unit 40 (FIG. 3, steps 72 and 73). Based on the outputs from the initial speed measuring means 41 and the ballistic measuring means 42, the trajectory calculating means 43 calculates the trajectory (FIG. 3, step 74).
Next, after the predicted landing is calculated by the predicted landing calculation means 44, it is determined whether or not the calculated landing is equal to the target landing (FIG. 3, step 75). If the calculated landing position is equal to the target landing position, the signal from the ballistic radar 31 is taken in again, and steps 73 to 75 are repeated thereafter. In this state, since the shell 10 is flying according to the target, the trajectory is not corrected.
On the other hand, if the calculated impact landing and the target impact landing are not equal, the trajectory correction amount is calculated by the trajectory correction amount calculating means 45 (step 76 in FIG. 3), and the number of side thruster injections necessary to perform this correction is calculated. The injection timing is calculated by the number of side thrusters and the timing calculation means 46 to form a ballistic correction signal (FIG. 3, step 77). This ballistic correction signal is transmitted (transmitted) from the transmitting means 33 (FIG. 3, step 78), and is fed back to step 73. The trajectory is calculated again in step 74, and the bullet 10 is then moved along the corrected trajectory. Whether or not the aircraft is flying is observed by a signal from the ballistic radar 31, and the steps after step 75 are repeated in the same manner as described above.
[0036]
On the cannonball 10 side, as the cannonball 10 is fired (step 81 in FIG. 3), infrared radiation energy in the sky around the shell 10 is measured by the infrared detection means 20 (FIG. 3, step 82). From the difference in energy amount based on the difference in observation elevation angle, the reference position calculation means 14 calculates a peak value, in other words, a reference position such as a horizontal position and a zenith position (FIG. 3, step 83). Based on this peak value, the rotation angle calculation means 15 calculates the rotation angle of the shell 10 (FIG. 3, step 84). Next, it is checked whether or not the ballistic correction signal is received by the receiving means 13 (FIG. 3, step 85). If not received, the steps from the infrared amount measurement in step 82 are repeated.
On the other hand, when the correction signal is received, the side thruster driving device 16 performs the injection of the side thruster 12 based on the correction signal (step 86 in FIG. 3), and changes the flight state of the shell 10, that is, the trajectory. The change is made and the shell 10 flies toward the target landing point. Further, when the side thruster 12 is injected, the measurement of the amount of infrared rays in step 82 is continued again in the shell 10.
[0037]
Hereinafter, by repeating the above-described procedure, the trajectory 10 in flight is subjected to ballistic correction while the rotation angle is measured.
[0038]
According to this embodiment as described above, the following effects are obtained.
In other words, in the present embodiment, it is possible to measure the rotation angle of the cannonball 10 by the infrared detecting means 20 having no movable part by noting that the amount of energy of the infrared radiation energy existing in nature varies depending on the elevation angle of the sky. . Therefore, it is possible to provide an inexpensive rotation angle measuring device and measuring method that are excellent in G resistance.
Further, it can be made extremely small as compared with the prior art using a gyro and the like, and can be easily applied to the shell 10.
Furthermore, if the offset angle Q is provided in the measurement direction of the infrared detection means 20, infrared radiant energy can be measured without measuring noisy infrared rays in the ground direction. Therefore, a peak value as a reference value can be obtained with a simpler configuration. It can be recognized and can also be provided at low cost. At this time, if the offset angle Q is equal to or smaller than the drop angle P, in other words, if the offset angle Q is set to an angle equal to or less than the drop angle P (offset angle Q ≦ drop angle P), the infrared detecting means 20 is allowed to move to the ground. Since the direction infrared rays are not measured at all, the accuracy can be improved.
[0039]
On the other hand, even if the offset angle Q is set larger than the drop angle P (offset angle Q> drop angle P), as described above, the center of the value where the rising and falling of the radiant energy are equal is calculated as the peak value. By doing so, it is possible to measure the rotation angle, but it is disadvantageous in terms of cost because the calculation mechanism is set.
[0040]
Next, FIG. 4 shows a first test apparatus 50 for confirming the theory of the present invention.
The first test apparatus 50 includes a support base 52 supported by support legs 51, on which a rotating body 53 rotates with respect to a rotation axis R inclined by a drop angle P with respect to a horizontal plane. It is supported freely. An infrared detector 20 is provided on the upper part of the rotating body 53, and the sensor measurement direction of the infrared detector 20 has an offset angle Q equal to the drop angle P with respect to the rotation axis R.
At this time, the infrared detecting means 20 uses a radiation thermometer instead of the original infrared sensor, and can measure the temperature of the wavelength band used in this apparatus. In this apparatus, the drop angle P = offset angle Q = 60 degrees is set, and the sky direction above the horizontal direction with the largest infrared radiation energy is measured.
[0041]
The measurement result is shown in FIG. According to FIG. 5, it can be seen that there is a peak value in the horizontal direction. The measurement condition of FIG. 5 is that the weather is sunny, but even when the weather is cloudy, there is scattered energy due to the cloud bottom, but it has the same peak value in the horizontal direction. Similarly, the rotation angle can be measured as a reference.
[0042]
FIG. 6 shows a second test apparatus 60 using an uncooled infrared sensor as the infrared detecting means 20 of the present invention.
The second test apparatus 60 includes a base 61, and a main body 63 is inclined to the base 61 via a support arm 62 at a predetermined angle, that is, an angle equal to the drop angle P, specifically 60 degrees. It is fixed. The main body 63 is provided with the infrared detecting means 20 including an uncooled infrared sensor at the lower portion thereof, and a rotating body 64 is rotatably attached to the upper portion thereof. In the rotating body 64, the mirror 65 that reflects the infrared rays incident from the direction of the offset angle Q set to the angle (= 60 degrees) equal to the drop angle P with respect to the rotation axis R, just toward the infrared detection means 20. Is provided. That is, the mirror 65 is provided with an inclination of 30 degrees with respect to the rotation axis R, and is rotated integrally with the rotating body 64.
A drive motor 67 is attached to the main body 63 via a bracket 66, and the rotation of the drive motor 67 is transmitted to the rotating body 64 via a belt 68.
[0043]
In this apparatus configured as described above, the rotational speed of the rotating body 64 was set to 10 rotations / second and the drop angle P = offset angle Q = 60 degrees, and the sensor output with respect to the rotation angle was measured.
As a result, the infrared radiant energy detected by the infrared detecting means 20 shows a minimum value when the rotation angle is a little before the horizontal direction (180 degrees), that is, around 160 degrees, and a little before the zenith direction (360 degrees). A sine wave of 10 Hz showing a maximum value around 340 degrees. At this time, the output of the infrared detection means 20 did not have a peak when the sensor measurement direction was horizontal as described above, and showed a slight phase delay. This phase delay is due to the phase delay of the infrared detecting means 20 and an electric circuit (not shown). Since the phase delay of the infrared detecting means 20 and the electric circuit is determined by the rotational speed, it can be corrected and does not cause a problem.
[0044]
According to the present embodiment, the rotation angle of the rotating body 64 can be sufficiently measured even using an uncooled infrared sensor that is inexpensive at the present time but does not necessarily have high sensitivity. An inexpensive device can be provided.
Moreover, since the part of the rotating body 64 including the mirror 65 is rotated to measure the infrared rays in each direction, not the entire apparatus, the rotating mechanism can be miniaturized and the part of the infrared detecting means 20 does not rotate. Therefore, the signal and the power line are not twisted, and the structure of the apparatus can be simplified from this point.
In this case, if the mirror 65 is not used, the signal line or the like must be output to the outside by a slip ring or radio waves, which is disadvantageous because of its structural complexity.
[0045]
It should be noted that the present invention is not limited to the above-described embodiment, and modifications and improvements within a scope that can achieve the object of the present invention are included in the present invention.
[0046]
For example, the infrared detecting means 20 is not limited to the above-described thermometer and uncooled infrared sensor element, and any means can be used as long as it can detect infrared rays, and the name is not limited.
Further, the rotating flying object is not limited to the cannonball 10, and any object that flies while rotating may be used.
Further, as the side thruster 12 for changing the trajectory of the shell 10, a gunpowder type is usually used. However, the present invention is not limited to this, and any drive type may be used, and the name thereof is not limited. Anything such as a thrust motor or propulsion means may be used. In short, any means can be used as long as it can operate in accordance with the drive command and change the flying state of the rotating flying object.
[0047]
【The invention's effect】
According to the present invention, the infrared detecting means is used to detect the rotational angle of the rotating flying object by detecting the infrared ray showing a different amount of radiant energy depending on the observation elevation angle. An element having high G resistance can be used, and the rotation angle can be measured stably and inexpensively.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a schematic configuration of an embodiment of the present invention.
FIG. 2 is a schematic diagram showing an operation in the embodiment of FIG. 1;
FIG. 3 is a flowchart showing an operation in the embodiment of FIG. 1;
4A and 4B are schematic configuration diagrams showing a first test apparatus for confirming the theory of the present invention. FIG. 4A is a side view, and FIG. 4B is a front view. It is.
FIG. 5 is a graph showing the relationship between the rotation angle and temperature measured by the test apparatus of FIG. 4;
FIG. 6 is a schematic configuration diagram with a part cut away showing a second test apparatus for confirming the theory of the present invention.
FIG. 7 is a graph showing the relationship between the infrared radiation energy intensity and the observation elevation angle that triggered the invention.
FIG. 8 is a schematic configuration diagram showing an embodiment in which the present invention is applied to a shell as a rotating projectile of the present invention.
FIG. 9 is a schematic configuration diagram showing an example of infrared detection means used in the embodiment of FIG. 8;
FIG. 10 is a schematic configuration diagram showing another embodiment applied to a shell as a rotating projectile of the present invention.
FIG. 11 is a schematic configuration diagram showing still another embodiment applied to a shell as a rotating projectile of the present invention.
12 is a graph showing the relationship between the rotation angle and radiant energy in each of the embodiments of FIGS. 10 and 11. FIG.
[Explanation of symbols]
10 Cannonball
12 Side thruster
13 Receiving means
14 Reference position calculation means
15 Rotation angle calculation means
16 Side thruster drive device
20 Infrared detection means
30 Artillery
31 Ballistic radar
33 Transmission means
40 arithmetic unit
41 Initial speed measurement means
42 Ballistic measurement means
43 Ballistic calculation means
44 Expected landing landing calculation means
45 Ballistic correction amount calculation means
46 Number of side thruster injection, timing calculation means
50 First test apparatus
60 Second test apparatus

Claims (9)

A rotating projectile that flies freely while rotating;
An infrared detecting means provided on the rotating projectile body for detecting infrared rays in the sky above the horizontal direction when the rotating projectile falls ;
Of radiant energy detected by the infrared detection means, the difference of the detection values based on the rotation angle of the rotating projectile, and the reference position calculation means for calculating a reference position,
A rotation angle measuring device for a rotating flying object, comprising: a rotation angle calculating means for calculating a rotation angle of the rotating flying object from a comparison with a reference position by the reference position calculating means. The rotation angle measuring device of the rotating projecting object according to claim 1, wherein the infrared detecting means has an offset angle inclined by a predetermined angle toward the rear of the rotating projecting object with respect to the direction orthogonal to the rotation axis of the rotating projecting object. A rotation angle measuring device for a rotating flying object, characterized in that the rotation angle measuring apparatus is provided on the rotating flying object. The rotation angle measuring device for a rotating projectile according to claim 2, wherein the offset angle is set to an angle equal to or less than a drop angle of the rotating projectile. 4. The rotation angle measuring device for a rotating projectile according to claim 1, wherein the infrared detecting means detects infrared rays having a wavelength of 3 to 5.5 [mu] m and / or 7 to 14 [mu] m and emits the infrared rays. A rotation angle measuring device for a rotating flying object, characterized by measuring energy. 5. The rotation angle measurement device for a rotating projectile according to claim 1, wherein the reference position calculation means has the same radiant energy as the rise and fall of the radiant energy detected by the infrared detection means. A rotation angle measuring device for a rotating projectile, characterized in that a center position is obtained by measuring a position to be and a reference position is calculated based on the center position. 4. The rotation angle measuring device for a rotating projectile according to claim 3, wherein the reference position calculation means measures a peak of radiant energy detected by the infrared detection means, and calculates a reference position based on the peak position. An apparatus for measuring a rotation angle of a rotating flying object. 7. The rotational angle measurement device for a rotating projectile according to claim 1, wherein the rotating projectile is a shell, and a side thruster for changing a flight state of the shell on a peripheral surface of the shell. And a plurality of side thruster driving means for driving a predetermined side thruster from a rotation angle and a ballistic correction signal from the rotation angle calculating means. Rotation angle measuring device. Infrared detection means is provided on a rotating flying object that flies freely while rotating,
The infrared detection means detects the radiant energy around the rotary projectile based on the infrared detected in the sky above the horizontal direction when the rotary projectile falls .
Calculate the reference position from the difference in detection value based on the rotation angle of this radiant energy,
A rotation angle measurement method for a rotating projectile, wherein the rotation angle of the rotating projectile is calculated by calculating the rotation angle of the rotating projectile from a comparison with the reference position. 9. The rotational angle measurement method for a rotating projectile according to claim 8, wherein the infrared detecting means detects infrared rays having a wavelength of 3 to 5.5 [mu] m and / or 7 to 14 [mu] m and measures the radiation energy thereof. The rotation angle measurement method of the rotating projectile.

Images