JP3914413B2 - Initialization method for flying objects - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an initialization method for a flying object, and in particular, an aircraft-mounted flying object is used in various forms such as enemy land suppression, enemy sea suppression, enemy air suppression, simulated target, etc., in air-to-air and air-to-ground missiles. It is very effective from the viewpoint of operational efficiency, maneuverability, cost, and self-defense to launch in the vicinity of enemy territories. At that time, it is indispensable for the mission to give an operation command to the flying object, and initialization is a command input to the normal flying object, or an initial position input to the navigation device, an attitude angle of the inertial navigation device, In order to supply initialization data of azimuth angle, position, and speed, this is an operation or sequence that is always necessary for an aircraft mounted aircraft. The present invention relates to an unmanned flying object mounted on an aircraft and powered on by wireless means such as a “Bluetooth” system in a frequency band centered on 2.4 GHz, an initialization operation, and an inertial navigation device. In order to efficiently initialize the inertial navigation device by transmitting data related to initialization of the aircraft from the aircraft side to the flying object and using the track signal of the GPS receiver as the initial azimuth angle of the inertial navigation device Concerning new improvements.
[0002]
[Prior art]
In the case of a flying object that has been detached after being mounted on this type of aircraft and used for self-contained navigation as used in the past, the data bus mounted on the aircraft when the flying object was carried on the aircraft. Are connected to the flying object via an electrical coupling means such as a connector, and all of the flying object operation command, initial value data, target position, and other data necessary for navigation of the flying object are input.
[0003]
[Problems to be solved by the invention]
Since the input of various data to the conventional flying object is configured as described above, the following problems exist.
In other words, in order to mount a flying object on an aircraft that does not have a flying object, the aircraft must be greatly modified, and much cost and time have been required.
In addition, installing a control operation panel connected to an electrical coupling means for sending and receiving data between the aircraft and the flying object in the cockpit of the aircraft becomes an obstacle in the narrow cockpit, It was to have a great adverse effect on the smooth operation of the flying object.
[0004]
The present invention has been made to solve the above-described problems. In particular, the present invention makes it possible to supply instructions and initialization data to an aircraft mounted aircraft without refurbishing the aircraft. By minimizing the period and acquiring the navigation data of the aircraft with the GPS receiver installed at the same time and transmitting it to the inertial device of the flying object, it is possible to initialize the inertial device during the flight, for example It is an object of the present invention to provide an initialization method for a flying object in which the flying object is placed under the wing of an aircraft and initialization can be performed using the navigation data of the aircraft even if GPS signals cannot be received.
[0005]
[Means for Solving the Problems]
Initialization method for flying object according to the invention, in a state where the flying object to perform withdrawal autonomous navigation after mounting an aircraft fuselage is carried on the aircraft, at least power-on of the projectile, the initialization operation and inertial navigation In an initialization method for a flying object in which data relating to initialization of the device is transmitted wirelessly from the operation panel on the aircraft side,
When the inertial navigation device of the flying object is initialized using the GPS signal from the GPS receiver from the aircraft side, the correction amount processed by inputting the GPS speed and GPS position based on the GPS signal to the Kalman filter Is used as initialization data, and when calculating the true azimuth position of the inertial navigation device, the GPS track signal is used to calculate the direction cosine by calculating the torquing rate and the quaternion from the angular velocity to calculate the attitude and direction,
Speed calculation is performed based on the coordinate obtained by the direction cosine calculation and coordinate conversion by acceleration and the corrected speed, and the speed calculated by the speed calculation is compared with the GPS speed and input to the Kalman filter as an error speed. The true azimuth and position of the azimuth position calculation are compared with the GPS position, the error position is input to the Kalman filter and processed, and transmission and reception of the data use a frequency band of 2.4 to 2.48 GHz. This method is performed by wireless means .
[0006]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of an initialization method for a flying object according to the present invention will be described with reference to the drawings. First, the outline of the present invention will be described.
The present invention relates to data such as power-on of a flying object, initialization operation, initialization of a built-in inertial navigation device, etc. in a state where the flying object is carried on an aircraft in a flying object that is detached after being mounted on an aircraft and performs autonomous navigation. In the method for transmitting, the transmission is performed by wireless means such as “Bluetooth” . Moreover, when a GPS signal is transmitted to the flying object by attaching a GPS antenna and a GPS receiver to the wireless device and installing the GPS antenna at an arbitrary place in the pilot seat, the inertial navigation device inside the flying object uses the GPS signal. Calculate the attitude, heading, speed, and position of the flying object before leaving. This makes it possible to estimate errors in the inertial sensor or the like in advance. Further, in the initial setting, the GPS track signal is used as the initial azimuth angle of the inertial navigation device, so that the initialization of the inertial navigation device is performed efficiently.
In other words, the configuration shown in FIG. 1 shows a state in which a flying object 3 such as a missile is carried under the wing 2 of an aircraft 1 such as a jet fighter so that it can be detached and launched at the time of launch. Yes.
In the cockpit 5 of the fuselage 4 of the aircraft 1, a Bluetooth transmitter 6, a GPS antenna 7, and a GPS receiver using a frequency band of 2.4 to 2.48 gigahertz as a transmission / reception band according to a well-known brand name “Bluetooth” system. 8 is provided.
[0007]
The flying object 3 is provided with a “Bluetooth” receiver 9, a flight control computer 10, an inertial navigation device 11, a GPS antenna 12, and a GPS receiver 13 configured in the same manner as the “Bluetooth” transmitter 6. .
The GPS antenna 12 and the GPS receiver 13 are hidden behind the wing 2 because the flying object 3 is attached to the lower side of the wing 2, and GPS satellite signals from GPS satellites cannot be received. It is configured in the state. It should be noted that the above-mentioned “Bluetooth” transmitter 6 and “Bluetooth” receiver 9 transmit data between the aircraft 1 and the flying object 3 ( “Bluetooth” wireless transmission / reception has a transmission / reception distance of only about 10 m, The wireless means 20 used in the present invention can be used stably with little influence on the electronic device. The wireless means 20 can use not only the Bluetooth system but also other known wireless.
[0008]
On the cockpit 5 side, a “Bluetooth” transmitter 6 is connected to the CPU 21, and the CPU 21 is provided with an operation panel 22 including a keyboard or the like provided above the pilot in the cockpit 5. Yes.
By operating the operation panel 22, data can be transmitted to the flying object 3 side through the CPU 21.
[0009]
A “Bluetooth” receiver 9 in the flying object 3 is connected to a flight control computer 10 connected to an inertial navigation device 11, and a GPS receiver 13 connected to a GPS antenna 12 and the flight control computer 10 are connected. .
[0010]
Next, the case where the inertial navigation device 11 on the flying object 3 side is initialized by the GPS signal in the above-described configuration will be described.
First, when the aircraft 1 carrying the flying object 3 approaches the planned launching airspace of the flying object 3, the operation panel 22 mounted on the aircraft 4 is turned on. Since the operation panel 22 is very small and light due to the above-described wireless connection, it is portable and can be easily attached to and detached from the cockpit 5, for example, the pilot head or shoulders, thereby improving the operational efficiency of the flying object 3. be able to. First, after the position is measured by the GPS receiver 8, a power-on command for the flying object 3 is transmitted by the “Bluetooth” transmitter 6. As a result, power to the flying object 3 is turned on, and at the same time, an initialization command and GPS reception data from the operation panel 22 are transmitted to the flying object 3. The inertial navigation device 11 inside the flying object 3 uses the GPS data from the operation panel 22 to calculate the attitude, azimuth, speed, and position of the flying object 3 by a composite navigation calculation. At this time, the initial azimuth is detected with high accuracy using the GPS track signal 30 and using the Kalman filter 33 or the like with the GPS speed 31 and the GPS position 32 as observation values, as shown in FIG. At this time, since the accuracy of the inertial sensor to be used can be estimated by this algorithm, the flying object 3 can be initialized even in a relatively inexpensive gyro. After the initialization, the flying object 3 is separated from the airframe 4 by the separation command from the operation panel 22, and the mission is performed by the self-contained navigation.
[0011]
Note that the initialization operation of the inertial navigation device 11 of the flying object 3 using the GPS signal 8a from the GPS receiver 8 is as shown in FIG. That is, as described above, the GPS velocity 31 and the GPS position 32 are input to the Kalman filter 33 and processed to obtain the correction amount 34 and used as initialization data, but the true direction and position calculation 35 is performed. At the same time, the GPS track signal 30 is inputted to the true azimuth position calculation 35, the direction cosine calculation 39 is performed by the quaternion integration 38 from the torque rate calculation 36 and the angular velocity 37, and the attitude / azimuth calculation 40 is performed.
[0012]
The speed calculation 44 is performed by the coordinate and the correction rate 43 obtained by the coordinate transformation 42 by the direction cosine calculation 39 and acceleration 41, the Kalman filter 33 as an error rate 45 speed according to the speed calculated is compared with the GPS velocity 31 While being input, the true azimuth and position of the position calculation 35 are compared with the GPS position 32 and the error position 46 is input to the Kalman filter 33 for processing . In addition to the initialization using the wireless unit 20 described above, two-way communication for confirming the self-inspection result before launching the flying object on the aircraft side is also possible. The wireless means 20 can also use infrared communication.
[0013]
【The invention's effect】
Since the initialization method for the flying object according to the present invention is configured as described above, the following effects can be obtained.
That is, according to the present invention, data transmission between the aircraft and the flying object can be performed wirelessly, and the GPS signal on the aircraft side can be transmitted to the inertial navigation device on the flying object side. It is possible to transmit a command such as an operation command of the flying object and initialization data of the inertial navigation device without modifying the aircraft on the aircraft side. In addition, by using GPS and other data as transmission data, initialization data for the inertial navigation system can be obtained before separation of the flying object. Therefore, highly accurate attitude, direction, speed, and position can be obtained even with relatively inexpensive inertial sensors. Etc. can be obtained. Further, at that time, by using the track signal of the GPS signal as the initial azimuth angle of the inertial navigation device, the inertial navigation device can be initialized efficiently. Further, the in-flight “Bluetooth” receiver can also be used for signal exchange with an in-flight “Bluetooth” transmitter (not shown).
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram showing an initialization method for a flying object according to the present invention.
FIG. 2 is a block diagram specifically showing a configuration of a main part of FIG.
FIG. 3 is a block diagram showing initialization of the inertial navigation apparatus of FIG. 2;
[Explanation of symbols]
1 Aircraft 3 Aircraft
4 Airframe 6 “Bluetooth” transmitter 8 GPS receiver 8a GPS signal 9 “Bluetooth” receiver 11 Inertial navigation device 20 Wireless means
22 Operation panel 30 GPS track signal
31 GPS speed
32 GPS position
33 Kalman filter
34 Correction amount
35 True bearing calculation
36 Torque rate calculation
37 Angular velocity
38 Quaternion accumulation
39 cosine calculation
40 Posture / azimuth calculation
41 Acceleration
42 Coordinate transformation
43 Correction speed
44 Speed calculation
45 Error speed
46 Error position

Claims (1)

At least power-up and initialization of the flying object (3) in the state where the flying object (3) that is detached from the aircraft (4) and performs self-contained navigation is carried by the aircraft (1). In the initialization method in the flying object that is wirelessly transmitted from the operation panel (22) on the aircraft (1) side , the transmission of data relating to the initialization of the operation and inertial navigation device (11),
To initialize the inertial navigation system (11) of the flying object using GPS signals (8a) from the GPS receiver (8) from the machine body (4) side (3), the GPS signal (8a) Based on the GPS velocity (31) and GPS position (32) based on the correction amount (34) processed by being input to the Kalman filter (33 ) as initialization data, the true azimuth position calculation of the inertial navigation device (11) ( When performing 35) , the GPS track signal (30) is used to calculate the torquing rate ( 36) and the angular velocity (37) to calculate the direction cosine (39) by quaternion integration (38) to calculate the attitude and orientation (40) . ,
The direction cosine calculation (39) and the velocity calculated by the acceleration (41) the coordinate transformation by the coordinate correction speed obtained by (42) (43) (44) is performed, the speed is the GPS velocity by the velocity calculating (44) (31) is input to the Kalman filter (33 ) as an error speed (45) , and the true azimuth and position of the true azimuth position calculation (35) is compared with the GPS position (32). error position (46) is inputted and processed in the Kalman filter (33), transmission and reception of the data, characterized in that over a wireless unit (20) using a frequency band of 2.4 to 2.48 gigahertz An initialization method for a flying object.

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