JP3882311B2

JP3882311B2 - Flying object guidance control device

Info

Publication number: JP3882311B2
Application number: JP02105798A
Authority: JP
Inventors: 一博上田
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 1998-02-02
Filing date: 1998-02-02
Publication date: 2007-02-14
Anticipated expiration: 2018-02-02
Also published as: JPH11218398A

Description

【０００１】
【発明の属する技術分野】
この発明は、目標と飛しょう体がなす角度を示す目視線角の変化率であるところの目視線角速度を誘導信号として検出して、この誘導信号に比例した加速度を発生させて、飛しょう体を目標に会合させるための誘導制御装置に関するものである。
【０００２】
【従来の技術】
図９は従来の方法による誘導制御装置の全体の構成例を示すブロック図である。図において、１は誘導制御装置、２は目視線角とアンテナ角度との偏差である角度誤差を検出する角度誤差計算部、５は目視線角速度計算値をアンテナ追尾指令としてアンテナを空間安定化しながら目標に指向させるアンテナ空間安定化制御部、１７は角度誤差信号に追尾ループゲインを乗じて目視線角速度すなわち誘導信号を計算する追尾ループゲイン切り換え計算部、１８は時定数固定ノイズフィルタ、１９は物理積分である。
【０００３】
従来の方法による誘導制御装置は上記のように構成され、誘導制御装置は、図１０にＳ１として示した目視線角λ_M とＳ２として示したアンテナ角度Ｄとの偏差からＳ３として示した角度誤差εを図９における角度誤差計算部２で計算する。追尾ループゲイン切り換え計算部１７において、角度誤差に追尾ループゲインを乗じて目視線角速度を計算し、この目視線角速度計算値に時定数固定ノイズフィルタ１８を通した上で誘導信号として誘導制御装置から出力する。追尾ループゲインは、図１１に一例を示すように、飛しょう体と目標との相対距離が小さくなる（接近する）にしたがい、段階的に増加するように切り換える。一方で誘導信号をアンテナ追尾指令としてアンテナ空間安定化制御部５に与えて、アンテナを空間に安定化した上でアンテナを目標方向に指向させる。なお、図９において、Ｓ１３は目標運動にともなう目視線角速度、Ｓ１４はアンテナ角速度を表す。誘導制御装置で検出するのは、これらの物理量が積分されたものである。目視線角速度Ｓ１３を積分した値であるＳ１で示した目視線角λ_M として誘導制御装置が検出する。一方アンテナ角速度Ｓ１４は積分され、Ｓ２で示したアンテナ角Ｄとして誘導制御装置が検出する。図９で１９として示した（１／Ｓ）は物理積分を表す。
【０００４】
【発明が解決しようとする課題】
上記のような誘導制御装置では、追尾ループゲインの設定がそのまま角度追尾系の帯域の設定となるために、追尾ループゲインの切り換えを多段階とした場合、ゲイン切り換えにともなって飛しょう体の速度が低下するという問題があった。また、目標の運動情報、電波系の情報を得ることなしに追尾ループゲインの切り換えを行うために、必要以上に角度追尾系の帯域を低くしてしまうことにより飛しょう体の運動性能が劣化して、飛しょう体が目標に命中しないという問題があった。逆に角度追尾系の帯域を高くとりすぎてしまった場合、誘導制御装置が検出する角度誤差信号中に含まれるノイズ成分を十分除去することができずに飛しょう体自身の速度が低下してしまい、飛しょう体が目標に命中しないという問題があった。
【０００５】
この発明はかかる問題を解決するためになされたものであり、角度誤差信号に不必要な信号成分であるノイズが混入してしまう場合においても、角度誤差信号に含まれるノイズの計算を行い、このノイズ計算値に応じて、追尾ループ時定数およびノイズフィルタ時定数を設定し、適切な帯域を確保した上で誘導信号を計算することにより、飛しょう体の運動性能を確保しながらノイズの影響を除去した誘導信号を得ることを目的としている。
【０００６】
【課題を解決するための手段】
第１の発明による飛しょう体の誘導制御装置は、目標と飛しょう体との相対距離を計算する計算器、相対距離から角度誤差信号に含まれるノイズの大きさを計算する計算器、ノイズ計算値から追尾ループおよびノイズフィルタの時定数を設定するためのゲインを計算するゲイン計算器、時定数に応じた周波数特性を持つノイズフィルタ、時定数に応じた追尾ループゲインを角度誤差信号に乗じて目視線角速度を計算する追尾ループゲイン乗算計算器、目視線角速度計算値をアンテナ追尾指令としてアンテナを空間に安定化させた上でアンテナを目標に指向させるアンテナ空間安定化制御器を持つ。
【０００７】
また、第２の発明による飛しょう体の誘導制御装置は、目標と飛しょう体との相対距離から角度誤差信号に含まれるノイズの大きさを計算するための計算式を複数持ち、目標の反射電波強度別にノイズ計算式を選択した上でノイズの大きさを計算する計算器を持つ。
【０００８】
また、第３の発明による飛しょう体の誘導制御装置は、目標からの反射電波強度を計算する電波強度計算器と、電波強度から角度誤差信号中に含まれるノイズの大きさを計算する計算器を持つ。
【０００９】
また、第４の発明による飛しょう体の誘導制御装置は、目標からの反射電波強度から角度誤差信号に含まれるノイズの大きさを計算する際に、目標からの反射電波強度の急激な変化の影響を緩和するフィルタを通した上でノイズ計算を行う計算器を持つ。
【００１０】
また、第５の発明による飛しょう体の誘導制御装置は、相対距離から角度誤差信号に含まれるノイズの大きさを計算するための計算式を複数持ち、目標の反射電波強度別にノイズ計算式を選択した上でノイズの大きさを計算する計算器および、目標からの反射電波強度から角度誤差信号に含まれるノイズの大きさを計算する計算器を合わせ持ち、双方を必要に応じて選択する機能を持つ。
【００１１】
また、第６の発明による飛しょう体の誘導制御装置は、飛しょう体自身の速度および高度に応じて、追尾ループの帯域およびノイズフィルタの帯域を制限するためのゲインのリミット値を計算するゲインリミット計算器を持つ。
【００１２】
【発明の実施の形態】
実施の形態１．
図１はこの発明の実施の形態１を示すブロック図、図７はこの発明の時定数計算部を説明する図、図８はこの発明のゲイン計算部を説明する図である。図１において、１は誘導制御装置、２は目視線角とアンテナ角度との偏差である角度誤差を検出する角度誤差計算部、３は角度誤差信号に追尾ループゲインを乗じて目視線角速度すなわち誘導信号を計算する追尾ループゲイン乗算計算部、４はノイズフィルタ、５は目視線角速度計算値をアンテナ追尾指令としてアンテナを空間安定化しながら目標に指向させるアンテナ空間安定化制御部、６は目標からの反射波を利用し目標と飛しょう体の相対距離を計算する相対距離計算部、７は相対距離により角度誤差信号に含まれる角度ノイズの大きさを計算するノイズ計算部、８はノイズ計算値から追尾ループおよびノイズフィルタの時定数を設定するためのゲインを計算するゲイン計算部、９は時定数計算部、１０はノイズフィルタゲイン計算部、１１は追尾ループゲイン計算部、１９は物理積分である。
【００１３】
次にこの発明の実施の形態１の動作について図１を用いて説明する。この誘導制御装置は、飛しょう体が比例航法を行うために必要な、目標の目視線角速度すなわち誘導信号を計算する。図１０にＳ１として示した目視線角λ_M とＳ２として示したアンテナ角度Ｄとの偏差からＳ３として示した角度誤差εを図１における角度誤差計算部２で計算する。追尾ループゲイン乗算計算部３において、角度誤差Ｓ３に追尾ループゲインを乗じて目視線角速度Ｓ４を計算し、この目視線角速度計算値にノイズフィルタ４を通して誘導制御装置１から出力する誘導信号とする。
【００１４】
一方、相対距離計算部６で計算した相対距離計算値Ｓ６に応じ、ノイズ計算部７においてノイズの大きさを計算する。ノイズ計算部７では、あらかじめフィールド試験などで得ているデータを基にしてノイズの大きさを距離の関数として定義している。ノイズ計算部７でのノイズ計算式は、一例として”数１”に示すように、Ｓ６の相対距離計算値Ｒの関数として定義する。ノイズ計算値によりゲイン計算部８でゲイン計算し、追尾ループおよびノイズフィルタの周波数応答帯域を制御する時定数計算値Ｓ９を時定数計算部９で計算する。時定数計算値Ｓ９に応じた周波数特性をノイズフィルタ４に持たせるためのノイズフィルタゲイン計算をノイズフィルタゲイン計算部１０で行う。また、時定数計算値Ｓ９に応じた追尾ループゲインＳ１１を追尾ループゲイン計算部１１で計算し、追尾ループゲイン乗算部３において角度誤差に追尾ループゲインを乗じ目視線角速度計算値Ｓ４を計算する。目視線角速度計算値Ｓ４をノイズフィルタ４を通し、誘導信号Ｓ５として誘導制御装置１から出力する。なお、目視線角速度計算値Ｓ４をアンテナ追尾指令として、アンテナ空間安定化制御部５でアンテナを慣性空間上に安定化した上で、アンテナを目標方向に指向・追尾させる制御を行う。図１で１９として示した（１／Ｓ）は物理積分を表す。
【００１５】
【数１】

【００１６】
ここで、図１における時定数計算部９の一構成例を示すブロック図を図７に示す。図７において、２０はゲイン計算周期Ｔ_Z を出力する設定器、２１は時定数τを求める計算を実行する計算器である。ゲイン計算値およびゲイン計算周期と、時定数の関係を一例として”数２”に示す。
【００１７】
【数２】

【００１８】
ところで、図８は、図１におけるゲイン計算部８の一構成例を示すブロック図である。図８において、２２はゲイン２×Ｔ_Z の乗算器、２３はゲインＴ_Z ×Ｔ_Z の乗算器、２４はゲインＴ_Z の乗算器、２８は”数３”で示される関係のゲインＫ１を求める計算を実行する計算器、２９は”数４”で示される関係のゲインＫ２を求める計算を実行する計算器、３０は”数５”で示される関係の状態量Ｐ１１を求める計算を実行する計算器、３１は”数６”で示される関係の状態量Ｐ１２を求める計算を実行する計算器、３２は”数７”で示される関係の状態量Ｐ２２を求める計算を実行する計算器、３３はゲイン計算器Ｔ_Z 分の遅延レジスタ、３４は加算器である。
【００１９】
【数３】

【００２０】
【数４】

【００２１】
【数５】

【００２２】
【数６】

【００２３】
【数７】

【００２４】
ゲイン計算部８では、図８のブロック図に示すようにノイズ計算値σｎ２からゲイン計算値Ｋ１，Ｋ２をゲイン計算周期Ｔ_Z 毎に繰り返し計算している。まず、ノイズ推定値σｎ２と、中間計算値Ｍ１１，Ｍ１２から、計算器２８および計算器２９で、ゲイン計算値Ｋ１，Ｋ２をそれぞれ求める。次に、中間計算値Ｍ１１，Ｍ１２，Ｍ２２と、ゲイン計算値Ｋ１，Ｋ２から、計算器３０、計算器３１および計算器３２で、データ更新前の状態量Ｐ１１，Ｐ１２，Ｐ２２を求める。データ更新前の状態量Ｐ１１，Ｐ１２，Ｐ１２２は遅延レジスタ３３でＴ_Z 分だけ時間遅延されたのち、目標運動の設定値Ｑ１１，Ｑ１２，Ｑ２２の加算および状態量の計算値間の相互補間を行った上で、加算器３４で加算し、新たな中間計算値Ｍ１１，Ｍ１２，Ｍ２２とする。新たな中間計算値Ｍ１１，Ｍ１２，Ｍ２２を求める計算式の一例を”数８”に示す。ここで、Ｐ１１’，Ｐ１２’，Ｐ２２’は、Ｐ１１，Ｐ１２，Ｐ２２のＴ_Z 分だけ時間遅延された値である。
【００２５】
【数８】

【００２６】
以上に示したようにこの発明では、従来のように段階的に追尾ループゲインを切り換えて角度系追尾ループの周波数応答帯域を設定しているのではなく、追尾ループの周波数応答帯域およびノイズフィルタの周波数応答帯域を連続的に変化させることにより目標の目視線角速度である誘導信号を計算するため、従来問題となっていたゲイン切り換え時の速度低下を解決することができる。
【００２７】
実施の形態２．
図２は、この発明の別の構成例を示すブロック図である。上記実施の形態１では目標の電波条件によらず一種類の計算式でノイズ推定を行っていたが、本実施の形態では、図２に示すようにノイズ計算式選択部１２にノイズ計算式を複数持ち、目標の反射電波強度別にあらかじめフィールド試験で得ているノイズ計算式を、図２に示すノイズ計算式選択スイッチ１２ｄおよび１２ｅにより選択できるようにしたものである。目標が大きく反射電波強度が強い場合はノイズが小さくなるようなノイズ計算式を設定し、目標が小さく反射電波強度が弱い場合はノイズが大きくなるようなノイズ計算式を設定する。ノイズ計算式の選択は、飛しょう体搭載のレーダの情報もしくは、飛しょう体搭載母機のレーダにより観測した目標の反射電波強度に関する情報をもとに、飛しょう体に初期設定値として指令を送ることにより実施する。
【００２８】
このように、ノイズ計算式を選択することにより、目標の反射電波強度が弱い場合にゲインを上げすぎて周波数応答特性を高くしすぎたり、逆に、反射電波強度が大きい目標に対してゲインを下げすぎて周波数応答特性を低くしすぎるといった不都合が解消され、得られる誘導信号の精度が向上する。
【００２９】
実施の形態３．
図３は、この発明の別の構成例を示すブロック図である。図において、１３は、目標からの反射電波強度を計算する電波強度計算部である。得られた電波強度計算値からノイズ計算部において、電波強度計算値に応じた角度誤差信号に含まれるノイズの大きさをノイズ計算部７で計算する。ノイズ計算部７ではあらかじめフィールド試験で得ているデータをもとにして、ノイズの大きさを電波強度計算値の関数として定義している。ノイズ計算部７でのノイズ計算式は、一例として”数９”に示すように電波強度Ｔｐｏｗの関数として定義する。電波強度が小さくノイズが大きい場合はゲインを小さくして周波数応答特性を低くし、逆に電波強度が大きくノイズが小さい場合は周波数応答特性を高くして、所望の誘導信号を得る。
【００３０】
【数９】

【００３１】
目標の電波強度をノイズ計算に用いることにより、反射電波強度が弱い小さい目標に対してゲインを下げて帯域を狭くし、逆に、反射電波強度が強く大きい目標に対してゲインを上げて帯域を広くすることで得られる誘導信号の精度が向上する。
【００３２】
実施の形態４．
図４は、この発明の別の構成例を示すブロック図である。図において、１４は電波強度フィルタで、前段の電波強度計算部１３で得る電波強度が過渡的に変動する場合にその影響を緩和する機能を持つ。なお、電波強度フィルタ１４の周波数応答帯域は、角度追尾ループが最も広い帯域をとる場合と同じ帯域に設定する。これにより、角度追尾ループが追従できる範囲内でノイズ計算を行うことができる。このように設定した電波強度フィルタ１４を通した上で、ノイズ計算部７において角度誤差信号に含まれるノイズの大きさの計算を行い、ゲインをノイズ計算値の大小に応じて変化させ、追尾ループの周波数応答帯域および、ノイズフィルタの周波数応答帯域を適切に設定し、所望の誘導信号を得る。
【００３３】
目標または飛しょう体の旋回によって電波強度が過渡的に変動する場合に、その影響を緩和するフィルタを用いることにより、安定したノイズ計算を行うことにより、誘導信号の精度を向上させることができる。
【００３４】
実施の形態５．
図５は、この発明の別の構成例を示すブロック図である。図において、１５はノイズ計算を電波強度で行うか、または相対距離で行うかを選択するスイッチである。これは目標の反射電波強度に応じてノイズの推定方式を最適な条件のものに選択できるようにしたものである。目標の反射電波強度の観測は、飛しょう体搭載のレーダの情報もしくは、飛しょう体搭載母機のレーダにより行い、得られた情報から、飛しょう体に選択スイッチ指令を送り初期設定値とすることができる。なお、ノイズ計算方式選択スイッチ１５の切り換えは、一例として、遠距離からの発射で距離情報が不確定の場合にはまず電波強度によるノイズ計算を行い、目標に近づき相対距離が正確に把握できるようになったところで相対距離によるノイズ計算に切り替えてノイズ計算精度を上げようとするものである。
【００３５】
ノイズ計算方式を複数備え相互に組み合わせて用いることにより、電波強度にあったノイズ計算が可能となる。ノイズ計算方式を切り換えることにより、ノイズ計算精度が上がり、誘導信号精度の向上が図れる。
【００３６】
実施の形態６．
図６は、この発明の別の構成例を示すブロック図である。図において、１６はゲインリミット計算部で飛しょう体の速度、高度に応じてゲイン計算部８で計算するゲイン計算値にリミッタをかける機能を持つ。ゲイン計算値にリミッタをかけることにより、追尾ループの周波数応答帯域およびノイズフィルタ周波数応答帯域が適切に制限され、過度に角度追尾ループおよびノイズフィルタの周波数応答帯域が広がりすぎて飛しょう体の運動が不安定になることを防ぐ機能を持たせることができる。
【００３７】
ゲイン計算値にリミッタをかける必要があるのは、角度追尾ループの周波数応答帯域が、飛しょう体の制御応答帯域に比べて大きくなりすぎないようにするためのものである。飛しょう体の持つ制御性能によって異なるが、一例として、速度に関しては音速よりも遅くなった場合にゲイン計算値にリミッタをかけ、高度に関しては高度５０キロフィートを超えた場合にゲイン計算値にリミッタをかけるように設定する。リミッタの値は飛しょう体と角度追尾ループとの応答性の配分を行い設定する。
【００３８】
【発明の効果】
この発明は、以上に説明したように構成されているので、以下に記載されるような効果がある。
【００３９】
第１の発明によれば、角速度信号に不必要な信号成分である角度ノイズが混入してしまう場合においても、目標との相対距離により角度誤差信号に含まれる角度ノイズの計算を行い、角度追尾ループおよびノイズフィルタの帯域を適切に設定することにより、飛しょう体の運動性能を確保しながら角度ノイズの影響を除去した誘導信号を得ることができる。
【００４０】
また、第２の発明によれば、相対距離から角度誤差信号に含まれる角度ノイズの大きさを計算するための計算式を複数持ち、目標の反射電波強度別に適切なノイズ計算式を選択することにより、同様の効果が得られる。
【００４１】
また、第３の発明によれば、目標からの反射電波強度を計算する電波強度計算器を持つことにより、目標の反射電波強度に応じて角度ノイズ計算が実施でき、より精度の高い誘導信号を得ることができる。
【００４２】
また、第４の発明によれば、目標の反射電波強度からノイズ計算を行う際、電波強度の急激な変動を緩和するフィルタを通すことにより、過渡的な現象に影響を受けない適切なノイズ計算が可能となり、さらに精度の高い誘導信号を得る効果が期待できる。
【００４３】
また、第５の発明によれば、角度誤差信号に含まれる角度ノイズの大きさを計算する手段を複数持ち、目標の反射電波強度に応じてノイズ推定の方法を、相対距離によるもの、目標の反射電波強度によるものとを使い分けることにより、より精度の高い誘導信号を得る効果が期待できる。
【００４４】
また、第６の発明によれば、飛しょう体自身の速度および高度に応じて、角度追尾ループの周波数応答帯域およびノイズフィルタの周波数応答帯域を制限するためのゲインリミットを設定する機能を持たせることにより、飛しょう体の運動性能および安定性を確保しながら、さらに精度の高い誘導信号を得る効果が期待できる。
【００４５】
ところで、上記実施の形態ではアンテナを空間に安定化させた上でジンバル機構上の制御系を用いて機械的に走査する場合について述べたが、この発明はアンテナビームを電子的に走査する方式の誘導制御装置にも適用できる。このような場合にはここで述べた計算機能の一部もしくはすべてを、既存の飛しょう体誘導制御系と統合化できるため、この発明の誘導制御装置がさらに効果的である。
【図面の簡単な説明】
【図１】この発明による飛しょう体の誘導制御装置の実施の形態１を示すブロック図である。
【図２】この発明による飛しょう体の誘導制御装置の実施の形態２を示すブロック図である。
【図３】この発明による飛しょう体の誘導制御装置の実施の形態３を示すブロック図である。
【図４】この発明による飛しょう体の誘導制御装置の実施の形態４を示すブロック図である。
【図５】この発明による飛しょう体の誘導制御装置の実施の形態５を示すブロック図である。
【図６】この発明による飛しょう体の誘導制御装置の実施の形態６を示すブロック図である。
【図７】この発明の時定数計算部を示す図である。
【図８】この発明のゲイン計算部を示す図である。
【図９】従来の飛しょう体の誘導制御装置を示すブロック図である。
【図１０】従来の飛しょう体の誘導制御装置およびこの発明に関わる角度の関係を示す図である。
【図１１】従来の飛しょう体の誘導制御装置の追尾ループゲインの切り換えを示す図である。
【符号の説明】
１誘導制御装置、２角度誤差計算部、３追尾ループゲイン乗算計算部、４ノイズフィルタ、５アンテナ空間安定化制御部、６相対距離計算部、７ノイズ計算部、８ゲイン計算部、９時定数計算部、１０ノイズフィルタゲイン計算部、１１追尾ループゲイン計算部、１２ノイズ計算式選択部、１２ａノイズ計算式Ａ、１２ｂノイズ計算式Ｂ、１２ｃノイズ計算式Ｃ、１２ｄノイズ計算式選択スイッチＤ、１２ｅノイズ計算式選択スイッチＥ、１３電波強度計算部、１４電波強度フィルタ、１５ノイズ計算方式選択スイッチ、１６ゲインリミット設定部、１７追尾ループゲイン切り換え計算部、１８時定数固定ノイズフィルタ、１９物理積分、２０設定器、２１計算器、２２ゲイン２×Ｔ_Z の乗算器、２３ゲインＴ_Z ×Ｔ_Z の乗算器、２４ゲインＴ_Z の乗算器、２５目標運動設定器Ａ、２６目標運動設定器Ｂ、２７目標運動設定器Ｃ、２８計算器、２９計算器、３０計算器、３１計算器、３２計算器、３３ゲイン計算周期Ｔ_Z 分の遅延レジスタ、３４加算器。[0001]
BACKGROUND OF THE INVENTION
This invention detects the visual line angular velocity, which is the rate of change of the visual line angle indicating the angle formed by the target and the flying object, as an induced signal, generates an acceleration proportional to the induced signal, and The present invention relates to a guidance control device for associating a target with a target.
[0002]
[Prior art]
FIG. 9 is a block diagram showing an example of the overall configuration of a guidance control apparatus according to a conventional method. In the figure, 1 is a guidance control device, 2 is an angle error calculation unit for detecting an angle error which is a deviation between a visual line angle and an antenna angle, and 5 is a spatially stabilized antenna using a visual line angular velocity calculation value as an antenna tracking command. An antenna space stabilization control unit for directing to a target, 17 is a tracking loop gain switching calculation unit that calculates a visual line angular velocity, that is, an induction signal, by multiplying an angle error signal by a tracking loop gain, 18 is a time constant fixed noise filter, and 19 is physical It is an integral.
[0003]
The guidance control device according to the conventional method is configured as described above, and the guidance control device has an angular error indicated as S3 from the deviation between the visual line angle λ _M indicated as S1 in FIG. 10 and the antenna angle D indicated as S2. ε is calculated by the angle error calculator 2 in FIG. The tracking loop gain switching calculation unit 17 calculates the visual line angular velocity by multiplying the angle error by the tracking loop gain, passes the calculated visual line angular velocity through the time constant fixed noise filter 18, and generates a guidance signal from the guidance control device. Output. The tracking loop gain is switched so as to increase stepwise as the relative distance between the flying object and the target decreases (approaches), as shown in an example in FIG. On the other hand, an induction signal is given to the antenna space stabilization control unit 5 as an antenna tracking command to stabilize the antenna in space and direct the antenna in the target direction. In FIG. 9, S13 represents the visual line angular velocity associated with the target motion, and S14 represents the antenna angular velocity. What is detected by the guidance control device is an integration of these physical quantities. The guidance control device detects the visual line angle λ _M indicated by S1, which is a value obtained by integrating the visual line angular velocity S13. On the other hand, the antenna angular velocity S14 is integrated, and the guidance control device detects the antenna angle D indicated by S2. (1 / S) shown as 19 in FIG. 9 represents a physical integral.
[0004]
[Problems to be solved by the invention]
In the guidance control device as described above, the tracking loop gain setting is directly set to the band of the angle tracking system. There was a problem that decreased. Also, in order to switch the tracking loop gain without obtaining the target motion information and radio wave system information, the movement performance of the flying object deteriorates by lowering the angle tracking system band more than necessary. There was a problem that the flying object did not hit the target. Conversely, if the angle tracking system band is set too high, the noise component contained in the angle error signal detected by the guidance control device cannot be removed sufficiently, and the speed of the flying object will decrease. There was a problem that the flying body did not hit the target.
[0005]
The present invention has been made to solve such a problem. Even when noise, which is an unnecessary signal component, is mixed in the angle error signal, the noise included in the angle error signal is calculated. The tracking loop time constant and noise filter time constant are set according to the noise calculation value, and the guidance signal is calculated after securing the appropriate bandwidth, so that the influence of noise is secured while ensuring the movement performance of the flying object. The purpose is to obtain the removed induction signal.
[0006]
[Means for Solving the Problems]
A flying object guidance control apparatus according to a first invention includes a calculator for calculating a relative distance between a target and the flying object, a calculator for calculating a magnitude of noise included in an angle error signal from the relative distance, and a noise calculation. Gain calculator that calculates gain for setting time constant of tracking loop and noise filter from value, noise filter with frequency characteristics according to time constant, and tracking error gain according to time constant multiplied by angle error signal A tracking loop gain multiplication calculator that calculates the visual line angular velocity, and an antenna space stabilization controller that stabilizes the antenna in space using the visual line angular velocity calculation value as an antenna tracking command and directs the antenna toward the target.
[0007]
The flying object guidance control apparatus according to the second invention has a plurality of calculation formulas for calculating the magnitude of noise included in the angle error signal from the relative distance between the target and the flying object, and the reflection of the target. It has a calculator that calculates the magnitude of noise after selecting a noise calculation formula for each radio wave intensity.
[0008]
A flying object guidance control apparatus according to a third aspect of the present invention includes a radio wave intensity calculator that calculates a reflected radio wave intensity from a target, and a calculator that calculates the magnitude of noise contained in the angle error signal from the radio wave intensity. have.
[0009]
In addition, the flying object guidance control apparatus according to the fourth aspect of the present invention, when calculating the magnitude of noise included in the angle error signal from the reflected radio wave intensity from the target, causes a sudden change in the reflected radio wave intensity from the target. It has a calculator that calculates noise through a filter that mitigates the influence.
[0010]
Further, the flying object guidance control apparatus according to the fifth invention has a plurality of calculation formulas for calculating the magnitude of noise included in the angle error signal from the relative distance, and the noise calculation formula for each target reflected radio wave intensity. A function that selects both the calculator that calculates the magnitude of noise after selection and the calculator that calculates the magnitude of noise contained in the angle error signal from the reflected radio wave intensity from the target, and selects both as required have.
[0011]
According to a sixth aspect of the present invention, there is provided a flying object guidance control apparatus that calculates a gain limit value for limiting a tracking loop band and a noise filter band in accordance with the speed and altitude of the flying object itself. Has a limit calculator.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
FIG. 1 is a block diagram showing Embodiment 1 of the present invention, FIG. 7 is a diagram for explaining a time constant calculator of the present invention, and FIG. 8 is a diagram for explaining a gain calculator of the present invention. In FIG. 1, 1 is a guidance control device, 2 is an angle error calculation unit that detects an angle error that is a deviation between a visual line angle and an antenna angle, and 3 is a visual line angular velocity, that is, a guidance by multiplying the angle error signal by a tracking loop gain. A tracking loop gain multiplication calculation unit for calculating a signal, 4 is a noise filter, 5 is an antenna space stabilization control unit for directing the antenna to a target while stabilizing the antenna using a visual line angular velocity calculation value as an antenna tracking command, and 6 is a signal from the target. A relative distance calculation unit that calculates the relative distance between the target and the flying object using the reflected wave, 7 is a noise calculation unit that calculates the magnitude of the angle noise included in the angle error signal based on the relative distance, and 8 is a noise calculation value. Gain calculation unit for calculating gain for setting time constants of tracking loop and noise filter, 9 is a time constant calculation unit, and 10 is a noise filter gain calculation unit 11 the tracking loop gain calculator, 19 is a physical integration.
[0013]
Next, the operation of the first embodiment of the present invention will be described with reference to FIG. This guidance control device calculates a target visual angular velocity, that is, a guidance signal, necessary for the flying object to perform proportional navigation. The angle error calculator 2 shown in FIG. 1 calculates an angle error ε shown as S3 from the deviation between the visual line angle λ _M shown as S1 in FIG. 10 and the antenna angle D shown as S2. The tracking loop gain multiplication calculation unit 3 calculates the visual line angular velocity S4 by multiplying the angle error S3 by the tracking loop gain, and uses this visual line angular velocity calculation value as a guidance signal output from the guidance control device 1 through the noise filter 4.
[0014]
On the other hand, according to the relative distance calculation value S6 calculated by the relative distance calculation unit 6, the noise calculation unit 7 calculates the magnitude of noise. The noise calculation unit 7 defines the magnitude of noise as a function of distance based on data obtained in advance by field tests or the like. As an example, the noise calculation formula in the noise calculation unit 7 is defined as a function of the relative distance calculation value R in S6, as shown in “Equation 1”. The gain calculation unit 8 calculates the gain based on the noise calculation value, and the time constant calculation unit 9 calculates the time constant calculation value S9 for controlling the frequency response band of the tracking loop and the noise filter. The noise filter gain calculation unit 10 performs a noise filter gain calculation for giving the noise filter 4 frequency characteristics corresponding to the time constant calculation value S9. The tracking loop gain S11 corresponding to the time constant calculation value S9 is calculated by the tracking loop gain calculation unit 11, and the tracking loop gain multiplication unit 3 multiplies the angle error by the tracking loop gain to calculate the visual line angular velocity calculation value S4. The visual line angular velocity calculation value S4 is output from the guidance control device 1 as the guidance signal S5 through the noise filter 4. It should be noted that, using the visual line angular velocity calculation value S4 as an antenna tracking command, the antenna space stabilization control unit 5 stabilizes the antenna in the inertial space, and then controls the antenna to be directed and tracked in the target direction. (1 / S) shown as 19 in FIG. 1 represents a physical integral.
[0015]
[Expression 1]

[0016]
Here, FIG. 7 shows a block diagram showing a configuration example of the time constant calculation unit 9 in FIG. In FIG. 7, 20 is a setter that outputs a gain calculation cycle T _Z , and 21 is a calculator that executes a calculation for obtaining a time constant τ. As an example, the relationship between the gain calculation value and the gain calculation cycle and the time constant is shown in “Formula 2”.
[0017]
[Expression 2]

[0018]
FIG. 8 is a block diagram showing an example of the configuration of the gain calculation unit 8 in FIG. In FIG. 8, 22 is a multiplier of gain 2 × T _Z , 23 is a multiplier of gain T _Z × T _Z , 24 is a multiplier of gain T _Z , and 28 is a gain K 1 having a relationship represented by “Equation 3”. A calculator that executes a calculation to be obtained, 29 a calculator that executes a calculation to obtain a gain K2 having a relationship represented by “Equation 4”, and 30 a calculation to obtain a state quantity P11 having a relationship represented by “Equation 5”. A calculator 31 is a calculator that executes a calculation for obtaining a state quantity P12 having a relationship represented by “Equation 6”, and 32 is a calculator that performs a calculation for obtaining a state quantity P22 having a relationship represented by “Equation 7”. Is a delay register for the gain calculator T _Z , and 34 is an adder.
[0019]
[Equation 3]

[0020]
[Expression 4]

[0021]
[Equation 5]

[0022]
[Formula 6]

[0023]
[Expression 7]

[0024]
As shown in the block diagram of FIG. 8, the gain calculation unit 8 repeatedly calculates gain calculation values K1 and K2 from the noise calculation value σn2 for each gain calculation cycle T _Z. First, gain calculation values K1 and K2 are respectively determined by the calculator 28 and the calculator 29 from the estimated noise value σn2 and the intermediate calculation values M11 and M12. Next, from the intermediate calculation values M11, M12, and M22 and the gain calculation values K1 and K2, the calculator 30, the calculator 31, and the calculator 32 obtain state quantities P11, P12, and P22 before the data update. The state quantities P11, P12, and P122 before the data update are delayed by the time T _{Z in the} delay register 33, and then the target motion set values Q11, Q12, and Q22 are added and the interpolated values are calculated between the state quantities. Then, it is added by the adder 34 to obtain new intermediate calculation values M11, M12, and M22. An example of a calculation formula for obtaining new intermediate calculation values M11, M12, and M22 is shown in “Expression 8”. Here, P11 ′, P12 ′, and P22 ′ are values delayed by the time T _Z of P11, P12, and P22.
[0025]
[Equation 8]

[0026]
As described above, in the present invention, the frequency response band of the angle tracking loop is not set by switching the tracking loop gain stepwise as in the prior art, but the frequency response band of the tracking loop and the noise filter are not set. Since the induction signal, which is the target visual line angular velocity, is calculated by continuously changing the frequency response band, it is possible to solve the speed reduction at the time of gain switching, which has been a problem in the past.
[0027]
Embodiment 2. FIG.
FIG. 2 is a block diagram showing another configuration example of the present invention. In the first embodiment, noise estimation is performed using one type of calculation formula regardless of the target radio wave condition. However, in this embodiment, the noise calculation formula selection unit 12 uses a noise calculation formula as shown in FIG. The noise calculation formulas obtained in the field test in advance for each target reflected radio wave intensity can be selected by the noise calculation formula selection switches 12d and 12e shown in FIG. When the target is large and the reflected radio wave intensity is strong, a noise calculation formula is set so that the noise is small. When the target is small and the reflected radio wave intensity is weak, a noise calculation formula is set so that the noise is large. The noise calculation formula is selected by sending a command as an initial setting value to the flying object based on the information on the radar mounted on the flying object or the information on the reflected radio wave intensity of the target observed by the radar of the flying object mounted mother machine. To implement.
[0028]
In this way, by selecting the noise calculation formula, if the target reflected radio wave intensity is weak, the gain is increased too much to make the frequency response characteristic too high, or conversely, the gain is increased for a target with a high reflected radio wave intensity. Inconveniences such as excessively lowering the frequency response characteristics are eliminated, and the accuracy of the obtained induction signal is improved.
[0029]
Embodiment 3 FIG.
FIG. 3 is a block diagram showing another configuration example of the present invention. In the figure, reference numeral 13 denotes a radio wave intensity calculation unit for calculating the radio wave intensity reflected from the target. In the noise calculation unit, the noise calculation unit 7 calculates the magnitude of noise included in the angle error signal corresponding to the radio wave intensity calculation value from the obtained radio wave intensity calculation value. The noise calculation unit 7 defines the magnitude of noise as a function of the radio wave intensity calculation value based on data obtained in advance by field tests. As an example, the noise calculation formula in the noise calculation unit 7 is defined as a function of the radio wave intensity Tpow as shown in “Equation 9”. When the radio wave intensity is low and the noise is high, the gain is reduced to lower the frequency response characteristic. Conversely, when the radio wave intensity is high and the noise is low, the frequency response characteristic is increased to obtain a desired induction signal.
[0030]
[Equation 9]

[0031]
By using the target radio wave intensity for noise calculation, the gain is lowered to narrow the band for a target with low reflected radio wave intensity, and conversely, the band is increased by increasing the gain for a target with high reflected radio wave intensity. The accuracy of the induction signal obtained by widening improves.
[0032]
Embodiment 4 FIG.
FIG. 4 is a block diagram showing another configuration example of the present invention. In the figure, reference numeral 14 denotes a radio wave intensity filter, which has a function of mitigating the influence when the radio wave intensity obtained by the radio wave intensity calculation unit 13 in the previous stage fluctuates transiently. The frequency response band of the radio wave intensity filter 14 is set to the same band as that when the angle tracking loop takes the widest band. Thereby, noise calculation can be performed within a range that the angle tracking loop can follow. After passing through the radio wave intensity filter 14 set in this way, the noise calculation unit 7 calculates the magnitude of the noise included in the angle error signal, changes the gain according to the magnitude of the noise calculation value, and the tracking loop. The frequency response band of the noise filter and the frequency response band of the noise filter are appropriately set to obtain a desired induction signal.
[0033]
When the radio wave intensity fluctuates transiently due to the turning of the target or the flying object, the accuracy of the induction signal can be improved by performing stable noise calculation by using a filter that reduces the influence.
[0034]
Embodiment 5 FIG.
FIG. 5 is a block diagram showing another configuration example of the present invention. In the figure, reference numeral 15 denotes a switch for selecting whether noise calculation is performed based on radio field intensity or relative distance. This makes it possible to select an optimum noise estimation method according to the target reflected radio wave intensity. The target reflected radio wave intensity is observed by the radar information on the flying object or by the radar of the flying machine's mother machine, and the selection switch command is sent to the flying object from the obtained information to set the initial setting value. Can do. Note that the switching of the noise calculation method selection switch 15 is performed, for example, when the distance information is uncertain due to the launch from a long distance, the noise is first calculated by the radio wave intensity so that the relative distance can be accurately grasped by approaching the target At this point, the noise calculation accuracy is increased by switching to the noise calculation based on the relative distance.
[0035]
By using a plurality of noise calculation methods in combination with each other, it is possible to perform noise calculation according to the radio field intensity. By switching the noise calculation method, the noise calculation accuracy can be improved and the induction signal accuracy can be improved.
[0036]
Embodiment 6 FIG.
FIG. 6 is a block diagram showing another configuration example of the present invention. In the figure, reference numeral 16 denotes a gain limit calculation unit which has a function of limiting the gain calculation value calculated by the gain calculation unit 8 according to the speed and altitude of the flying object. By limiting the gain calculation value, the frequency response band of the tracking loop and the frequency response band of the noise filter are appropriately limited, and the frequency response band of the angle tracking loop and the noise filter is excessively widened, causing the movement of the flying object. A function that prevents instability can be provided.
[0037]
The reason why it is necessary to limit the gain calculation value is to prevent the frequency response band of the angle tracking loop from becoming too large compared to the control response band of the flying object. Although it depends on the control performance of the flying object, as an example, the gain calculation value is limited when the speed is slower than the sound speed, and the gain calculation value is limited when the altitude exceeds 50 kiloft. Set to apply. The limiter value is set by distributing the responsiveness between the flying object and the angle tracking loop.
[0038]
【The invention's effect】
Since the present invention is configured as described above, it has the following effects.
[0039]
According to the first invention, even when angular noise, which is an unnecessary signal component, is mixed in the angular velocity signal, the angular noise included in the angular error signal is calculated based on the relative distance from the target, and angle tracking is performed. By appropriately setting the bands of the loop and the noise filter, it is possible to obtain a guidance signal from which the influence of angle noise is removed while ensuring the movement performance of the flying object.
[0040]
Further, according to the second invention, there are a plurality of calculation formulas for calculating the magnitude of the angle noise included in the angle error signal from the relative distance, and an appropriate noise calculation formula is selected for each target reflected radio wave intensity. Thus, the same effect can be obtained.
[0041]
In addition, according to the third invention, by having a radio wave intensity calculator that calculates the reflected radio wave intensity from the target, the angle noise calculation can be performed according to the reflected radio wave intensity of the target, and a more accurate induction signal can be obtained. Obtainable.
[0042]
In addition, according to the fourth aspect of the present invention, when noise is calculated from the target reflected radio wave intensity, an appropriate noise calculation that is not affected by a transient phenomenon is obtained by passing a filter that reduces sudden fluctuations in the radio wave intensity. And an effect of obtaining a highly accurate induction signal can be expected.
[0043]
According to the fifth aspect of the invention, there are a plurality of means for calculating the magnitude of the angle noise included in the angle error signal, and the noise estimation method according to the reflected radio wave intensity of the target is based on the relative distance, The effect of obtaining a more accurate induction signal can be expected by properly using the reflected wave intensity.
[0044]
According to the sixth aspect of the invention, the function of setting the gain limit for limiting the frequency response band of the angle tracking loop and the frequency response band of the noise filter according to the speed and altitude of the flying object itself is provided. Thus, it is possible to expect an effect of obtaining a more accurate guidance signal while ensuring the movement performance and stability of the flying object.
[0045]
In the above embodiment, the case where the antenna is mechanically scanned using the control system on the gimbal mechanism after stabilizing the antenna in space has been described. However, the present invention is a method of electronically scanning the antenna beam. It can also be applied to a guidance control device. In such a case, part or all of the calculation function described here can be integrated with the existing flying object guidance control system, so that the guidance control device of the present invention is more effective.
[Brief description of the drawings]
FIG. 1 is a block diagram showing Embodiment 1 of a flying object guidance control apparatus according to the present invention;
FIG. 2 is a block diagram showing a second embodiment of a flying object guidance control apparatus according to the present invention;
FIG. 3 is a block diagram showing Embodiment 3 of a flying object guidance control apparatus according to the present invention;
FIG. 4 is a block diagram showing Embodiment 4 of a flying object guidance control apparatus according to the present invention.
FIG. 5 is a block diagram showing Embodiment 5 of a flying object guidance control apparatus according to the present invention;
FIG. 6 is a block diagram showing Embodiment 6 of a flying object guidance control apparatus according to the present invention.
FIG. 7 is a diagram showing a time constant calculation unit of the present invention.
FIG. 8 is a diagram showing a gain calculation unit of the present invention.
FIG. 9 is a block diagram showing a conventional flying object guidance control apparatus.
FIG. 10 is a view showing a conventional flying object guidance control device and an angle relationship according to the present invention.
FIG. 11 is a diagram showing switching of a tracking loop gain of a conventional flying object guidance control apparatus.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Guidance control apparatus, 2 Angle error calculation part, 3 Tracking loop gain multiplication calculation part, 4 Noise filter, 5 Antenna space stabilization control part, 6 Relative distance calculation part, 7 Noise calculation part, 8 Gain calculation part, 9 Time constant Calculation unit, 10 Noise filter gain calculation unit, 11 Tracking loop gain calculation unit, 12 Noise calculation formula selection unit, 12a Noise calculation formula A, 12b Noise calculation formula B, 12c Noise calculation formula C, 12d Noise calculation formula selection switch D, 12e Noise calculation formula selection switch E, 13 radio wave intensity calculation section, 14 radio wave intensity filter, 15 noise calculation system selection switch, 16 gain limit setting section, 17 tracking loop gain switching calculation section, 18 time constant fixed noise filter, 19 physical integration , 20 setter, 21 calculator, 22 gain 2 × T _Z multiplier, multiply the 23 gain T _Z × T _Z Vessels, of 24 gain T _Z multiplier 25 the desired motion setting unit A, 26 desired motion setter B, 27 desired motion setter C, 28 calculator, 29 calculator, 30 calculator, 31 calculator, 32 calculator , 33 gain calculation period T _Z worth of delay register, 34 an adder.

Claims

A flying object that detects the visual line angular velocity indicating the rate of change of the angle at which the target is expected from the flying object as a guidance signal, generates an acceleration corresponding to this guidance signal, and controls the flying object to associate with the target. In this guidance control device, an angle error detection means for detecting an angle error indicating a deviation between a visual line angle that is an angle at which a target is viewed from the flying object and an antenna angle of the flying object that is directed in the target direction, Calculates the gain for setting the time constant of the tracking loop and the noise filter from the calculated value of the angle noise, and a noise calculation means for calculating the magnitude of the angle noise included in the angle error signal based on the relative distance to the gut. Means, a noise filter having a frequency characteristic according to the time constant, and a visual line angle meter by multiplying the angle error signal by a tracking loop gain according to the time constant. Means for performing, spacecraft guidance control device being characterized in that and means for directing the line of sight angle calculated value on which to stabilize the antenna to the space the antenna to the target as an antenna tracking command.

The above noise calculation means has multiple calculation formulas for calculating noise for each reflected radio wave intensity from the target, and multiple calculations based on the information on the radar mounted on the flying object or the information observed by the radar of the flying object mounted mother machine. 2. The flying object guidance control apparatus according to claim 1, further comprising means for selecting an appropriate calculation formula from the formulas.

A flying object that detects the visual line angular velocity indicating the rate of change of the angle at which the target is expected from the flying object as a guidance signal, generates an acceleration corresponding to this guidance signal, and controls the flying object to associate with the target. An angle error detecting means for detecting an angle error indicating a deviation between a visual line angle indicating an angle at which the target is expected from the flying object and an antenna angle of the flying object directed in the target direction; A noise calculating means for calculating the magnitude of the angle noise included in the angle error signal from the reflected radio wave intensity; a means for calculating a gain for setting a time constant of the tracking loop and the noise filter from the calculated value of the angle noise; A visual line angle calculation is performed by multiplying the angle error signal by a noise filter having frequency characteristics according to the time constant and a tracking loop gain according to the time constant. Stage and, spacecraft guidance control device being characterized in that and means for directing the antenna to the target as an antenna tracking command to line of sight angle calculated values on which the stabilized to space antenna.

4. The guidance control apparatus according to claim 3, wherein the noise calculation means includes means for performing noise calculation after passing through a filter that alleviates the influence of a sudden change in the radio wave environment.

A flying object that detects the visual line angular velocity indicating the rate of change of the angle at which the target is expected from the flying object as a guidance signal, generates an acceleration corresponding to this guidance signal, and controls the flying object to associate with the target. In this guidance control device, an angle error detecting means for detecting an angle error indicating a deviation between a visual line angle indicating an angle at which the target is expected from the flying object and an antenna angle of the flying object directed in the target direction, A noise calculating means for calculating the magnitude of the angle noise included in the angle error signal based on the relative distance from the gill body, a means for calculating an estimated value of the angle noise included in the angle error signal from the reflected radio wave intensity from the target, A switch that selects a means for calculating the angle noise included in the angle error signal according to the measurement status of the reflected radio wave intensity, and a tracking loop and a node based on the calculated value of the angle noise. A means for calculating a gain for setting the time constant of the filter, a noise filter having a frequency characteristic according to the time constant, and a visual loop angle calculation by multiplying the angle error signal by a tracking loop gain according to the time constant And a means for directing the antenna toward the target using the calculated visual line angle as an antenna tracking command after stabilizing the antenna in space.

A flying object that detects the visual line angular velocity indicating the rate of change of the angle at which the target is expected from the flying object as a guidance signal, generates an acceleration corresponding to this guidance signal, and controls the flying object to associate with the target. In this guidance control device, an angle error detecting means for detecting an angle error indicating a deviation between a visual line angle indicating an angle at which the target is expected from the flying object and an antenna angle of the flying object directed in the target direction, A noise calculating means for calculating the magnitude of the angle noise included in the angle error signal based on the relative distance from the gill body, a means for calculating an estimated value of the angle noise included in the angle error signal from the reflected radio wave intensity from the target, A switch that selects a means for calculating the angle noise included in the angle error signal according to the measurement status of the reflected radio wave intensity, and a tracking loop and a node based on the calculated value of the angle noise. Means for calculating the gain for setting the time constant of the filter, gain limit calculating means for calculating the gain limit value for setting the time constant based on the speed and altitude information of the flying object itself, and the time A noise filter having a frequency characteristic corresponding to a constant; means for calculating a visual line angle by multiplying the angle error signal by a tracking loop gain corresponding to the time constant; and a visual line angle after stabilizing the antenna in space. A flying object guidance control device comprising means for directing an antenna toward a target using a calculated value as an antenna tracking command.