JP4202803B2 - Shooting calculation device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention performs a predetermined calculation for calculating a turret turning angle command value and an elevation angle command value based on measurement values obtained by measuring asynchronously a plurality of types of physical quantities that change every moment. It relates to a shooting operation device to be executed.
[0002]
[Prior art]
In order to control a certain type of device, a plurality of types of physical quantities related to the operation of the device are measured, and a predetermined calculation is performed on those measured values to calculate a control target value. There must be. For example, there is a turret that can numerically control the shooting attitude (that is, the attitude of the gun barrel in the turret), and a control device for controlling this turret is a target value for controlling the turret at the future position of the target. The turning angle command value and the elevation angle command value for hitting the target with a shell must be calculated. Here, the turning angle command value is information for designating the angle of the gun barrel from the vertical reference plane set with respect to the turret, and the elevation angle command value is the gun turret This is information for designating the angle from the horizontal reference plane that is set.
[0003]
When such a turret is mounted on a moving platform (vehicle, ship, etc.), in order to calculate these control target values, LOS (Line of Light: line connecting the turret and the target) ) Turning azimuth angle, elevation azimuth angle, linear distance from turret (platform) to target, platform roll, pitch, yaw, moving speed, and other physical quantities are required. Among them, the turning azimuth angle, the elevation azimuth angle, and the linear distance (hereinafter collectively referred to as “apparent target information”) are collectively measured by the radar mounted on the platform, and the platform roll, pitch, yaw , Which is collectively referred to as “rocking motion information”), is measured by three gyros arranged in the direction of each rocking motion, and the moving speed of the platform is measured by a speedometer mounted on the platform. The measurement of various physical quantities and the calculation of the turning angle command value and the elevation angle command value based on the measured physical quantities are disclosed in, for example, the following patent documents.
[0004]
By the way, as each observation device for measuring various physical quantities mentioned above (a radar for measuring apparent target information, a gyro for measuring shaking motion information, a speedometer for measuring the moving speed of the platform) It is not always necessary to be specially designed for the control of the gun barrel, and it is possible to use what was originally provided for the platform for other purposes.
[0005]
FIG. 5 shows various observation devices (radar [observation device A] 104, speedometer [observation device B] 105, gyro [observation device C] 106) originally provided in the platform for other purposes. Turret based on various physical quantities measured by these various observation devices (apparent target information measured by the radar 104, moving speed measured by the speedometer 105, and shaking motion information measured by the gyro 106) It is a block diagram which shows the structure of the shooting arithmetic device 100 which calculates the turning angle command value and the elevation / elevation angle command value. As shown in FIG. 5, the radar (observation apparatus A) measures the apparent target information [a] at a cycle of 3 seconds and inputs it to the shooting calculation apparatus 100, and the speedometer (observation apparatus B) is 1 The moving speed of the platform is measured in a cycle of seconds and input to the shooting calculation device 100, and the gyro (observation device C) measures the shaking motion information [c] of the platform in a cycle of 0.1 seconds and inputs it to the shooting calculation device 100. To do. In the shooting operation apparatus 100, the reception processing unit 101 temporarily stores (overwrites) the received physical quantity in the memory 102 every time it receives various physical quantities from each observation apparatus. The various physical quantities stored in the memory 102 at the respective timings and cycles in this way are collectively read by the arithmetic processing unit 103 every operation cycle (0.01 seconds) in the shooting arithmetic device 100. Then, the arithmetic processing unit 103 calculates the turret turning angle command value and the elevation angle command value based on the various physical quantities read together and notifies the turret servo unit (not shown) for driving the turret.
[0006]
[Patent Document 1]
Japanese Patent Laid-Open No. 2001-330397
[Problems to be solved by the invention]
However, since these observation devices A to C originally installed on the platform are each independently operating, timings (periods) at which various physical quantities measured by these are input to the shooting calculation device 100. ) Is different for each observation device. In this way, when various physical quantities measured at the time of falling apart are collectively read out by the arithmetic processing unit 103 and used in the same calculation as if they were measured at the same time, Since the state at a certain point in time is not shown, naturally, an error is caused in the calculation result. In addition, the input cycle for each of these physical quantities is much longer than the cycle in which the arithmetic processing unit 103 of the shooting arithmetic device 100 reads these physical quantities at once, so that the arithmetic processing unit 103 repeats the same physical quantity over and over again. Depending on the timing of computation, these physical quantities may become too old.In such a case, the calculated turning angle command value and elevation angle command value may have a large error. It will be included.
[0008]
Therefore, as shown in FIG. 6, a method is also employed in which a synchronization signal generator 107 is provided in the shooting operation device 100 to synchronize the transmission period of the physical quantity in each of the observation devices A to C with the operation cycle of the shooting operation device 100. ing. According to such a method, it is possible to eliminate a temporal shift of the physical quantity by moving each of the observation apparatuses A to C and the shooting calculation apparatus 100 in synchronization with each other, and thus an error in calculating the future position of the target. Can be kept small.
[0009]
However, in order to adopt such a method, the observation apparatuses A to C manufactured independently must be reconfigured to perform measurement in accordance with the synchronization signal output from the synchronization signal generator 107 (that is, It must be redesigned and remodeled, etc.), which entails enormous costs.
[0010]
The present invention solves the above-mentioned conventional problems and compares them with the case where the physical quantities are simultaneously measured based on the measurement values obtained by measuring each of a plurality of types of physical quantities that change every moment asynchronously. Thus, an object of the present invention is to provide a shooting calculation device that can obtain a calculation result that includes almost no error.
[0011]
[Means for Solving the Problems]
The shooting operation device according to the present invention devised to solve the above problems is configured as follows. That is, a predetermined calculation for calculating the turret turning angle command value and the elevation angle command value is executed based on the measured values obtained by asynchronously measuring a plurality of types of physical quantities that change every moment. A shooting calculation device, wherein the measurement values for the plurality of types of physical quantities are individually received at each measurement time point, and the reception units receive the measurement values for each type of the physical quantities. Each time the measurement value is stored in the memory in association with the time information indicating the reception time point, and the measurement value stored in association with the time information indicating the measurement value and the time point immediately before the reception time point. And a change rate of the measurement value based on the difference between the reception time point and the time difference between the reception time point and the immediately preceding time point, and the change rate is also stored in the memory in association with the measurement value. And When a specific instruction is input, for each type of physical quantity, time information indicating the latest time point is read from the memory, and a measurement value and a change rate corresponding to the time information are read, and from the time indicated by the time information A second computing unit that calculates an estimated value at the input time of the predetermined instruction by adding a product of an elapsed time until the input time of the predetermined instruction and the rate of change to the measurement value; and each type of the physical quantity And a third calculation unit that executes the predetermined calculation based on the estimated value calculated every time.
[0012]
When configured in this way, the measurement value of each type of physical quantity is not used as it is, but calculation is performed, but for each type of physical quantity, the measurement value, the rate of change of the measurement value with respect to time, After the second calculation unit calculates the estimated value based on the time elapsed from when the measurement value was received by the receiving unit until it was read by the second calculation unit, the estimated value calculated for each type of physical quantity was Since the third calculation unit uses the third calculation unit to perform a predetermined calculation, even if the measurement period and timing for each type of physical quantity are different, the result of the calculation executed by the third calculation unit is almost error-free. Is not included.
[0013]
The first calculation unit and the second calculation unit may use information representing the time itself generated by the internal clock, such as a hardware timer or software timer, as time information, or periodically generated pulses. A counter value generated by the counter to count may be used as time information.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The present embodiment is an example in which the shooting calculation device according to the present invention is implemented as a shooting calculation device 1 that calculates a target value for numerically controlling a turret mounted on a vehicle.
[0015]
FIG. 1 is a diagram schematically showing a vehicle 10 on which such a shooting calculation device 1 is mounted. As shown in FIG. 1, the shooting calculation device 1 is connected to an observation device A, an observation device B, and an observation device C mounted on a vehicle 10 as a platform, and obtained from these observation devices. Based on data that is measured values for multiple types of physical quantities, calculations are performed at an operation cycle of 0.01 seconds (hereinafter referred to as “calculation cycle”), and the calculation results (turning angle command as a target value) Value and elevation / elevation angle command value) are transmitted to the turret servo unit 11 that numerically controls the turning angle and elevation angle of the turret 12. Note that such a shooting calculation device 1 may be used by being mounted on any other platform (ship, airplane, etc.). In this embodiment, as schematically shown in FIG. Suppose that it is mounted and used in vehicles 10, such as an armored car. In addition, the broken line l in FIG. 1 is a line parallel to the horizontal plane.
[0016]
The observation device A is a radar that measures the linear distance between the vehicle 10 and the target E, measures the linear distance at a cycle of 3 seconds, and uses the measured value [α] indicating the measured linear distance as a shooting arithmetic device. Send to 1.
[0017]
The observation device B is a speedometer that measures the moving speed of the vehicle 10, measures the moving speed at a cycle of 1 second, and transmits a measured value [β] indicating the measured moving speed to the computing device 1.
[0018]
The observation device C is a gyro that measures the inclination angle θ of the vehicle 10, measures the inclination angle θ at a period of 0.1 second, and calculates a measured value [γ] indicating the measured inclination angle θ as a shooting arithmetic device. Send to 1.
[0019]
Hereinafter, an internal configuration and an operation example of the shooting operation apparatus 1 will be described with reference to FIGS. 2 to 4.
[0020]
FIG. 2 is a block diagram schematically showing the configuration of the shooting operation apparatus 1. As shown in FIG. 2, the shooting calculation device 1 includes a time generation unit 2 (corresponding to an internal clock), a reception processing unit 3 (corresponding to a reception unit), and a post-reception processing unit 4 (corresponding to a first calculation unit). , A memory 5, an operation preprocessing unit 6 (corresponding to a second operation unit), and an operation processing unit 7 (corresponding to a third operation unit).
[0021]
The time generation unit 2 is a hardware timer that always autonomously generates time information [t] therein, and notifies the generated time information [t] to the post-reception processing unit 4 and the pre-calculation processing unit 6. .
[0022]
The reception processing unit 3 is a circuit (I / O) that receives the measurement values [α] to [γ] input from the observation devices A to C, and receives any of the measurement values [α] to [γ]. Every time it is done, it is immediately input to the post-reception processing unit 4.
[0023]
The post-reception processing unit 4 is a circuit including a CPU and a ROM, and a post-reception processing program executed by the CPU is stored in the ROM. Note that the CPU on which this post-reception processing program has been executed performs processing independently for each of the measured values [α] to [γ]. However, in order to avoid complicated explanation, the measured values are not shown here. Only the processing related to [α] will be described.
[0024]
When the measurement value [α] is input from the reception processing unit 3 to the post-reception processing unit 4, the CPU of the post-reception processing unit 4 executes the process shown in the flowchart of FIG. 3 according to the post-reception processing program. Specifically, when the measurement value [α] is input from the reception processing unit 3, the CPU of the post-reception processing unit 4 receives information indicating the time when the measurement value [α] is input from the time generation unit 2 ( (Time information indicating the reception time point) [tα] is acquired (S01), and the previous measurement that is input one cycle before the measured value [α] and stored in the memory 5 by the post-reception processing unit 4 Information indicating the value [α ′] and the time when the immediately previous measurement value [α ′] was acquired (time information indicating the immediately previous time point) [tα ′] is acquired from the memory 5 (S02). Based on these numerical values, the following calculation (1)
dα = (α−α ′) / (tα−tα ′) (1)
Is executed to calculate the rate of change [dα] per unit time (S03). Thereafter, the CPU of the post-reception processing unit 4 uses the measurement value [α] input from the reception processing unit 3, the time information [tα] acquired in S01, and the change rate [dα] calculated in S03. Then, they are sequentially stored (overwritten) in the memory 5 (S04).
[0025]
The CPU of the post-reception processing unit 4 converts the measurement value [β] input from the observation device B via the reception processing unit 3 and the measurement value [γ] input from the observation device C via the reception processing unit 3. The same processing is performed for this.
[0026]
The memory 5 receives data (that is, measured value [α], time information [tα], rate of change [dα], measured value [β], and measured value [β]) input from the post-reception processing unit 4. Time information [tβ] indicating time, rate of change [dβ] per unit time of this measurement value [β], measurement value [γ], time information [tγ] indicating time when this measurement value [γ] is received, This is a storage unit for storing the change rate [dγ] per unit time of the measured value [γ], and each data is sequentially overwritten by the post-reception processing unit 4. Note that the data stored in the memory 5 is read by both the post-reception processing unit 4 and the pre-calculation processing unit 6.
[0027]
The calculation preprocessing unit 6 is a circuit including a CPU and a ROM, and a calculation preprocessing program executed by the CPU is stored in the ROM. It should be noted that the CPU on which this pre-calculation program has been executed is a group of all data stored in the memory 5 (that is, a data group consisting of measured value [α], time information [tα], and rate of change [dα], The same processing is performed on the data group consisting of measurement value [β], time information [tβ] and rate of change [dβ], and data group consisting of measurement value [γ], time information [tγ] and rate of change [dγ]). Although executed substantially in parallel, only processing for one data group (measurement value [α], time information [tα], and change rate [dα]) will be described here in order to avoid complicated explanation. .
[0028]
When a trigger signal is received from a host device (not shown) according to the calculation cycle described above (that is, when a predetermined timing is reached), the CPU of the calculation preprocessing unit 6 executes the processing shown in the flowchart of FIG. 4 according to the calculation preprocessing program. To do. Specifically, first, the CPU of the pre-calculation processing unit 6 acquires information indicating the current time (time information indicating the latest time point) [tn] from the time generating unit 2, and the post-reception processing unit 4 stores the memory. The measurement value [α], the time information [tα] and the change rate [dα] overwritten in 5 are read (S11). And the following calculation (2)
αn = α + dα (tn−tα) (2)
Is executed to calculate an estimated value [αn] obtained by estimating the straight line distance at the current time [tn] (S12). Thereafter, the CPU of the calculation preprocessing unit 6 notifies the calculation processing unit 7 of the calculation result (estimated value [αn]) (S13). The CPU of the calculation preprocessing unit 6 includes a data group (measurement value [β], time information [tβ] and change rate [dβ]) and a data group (measurement value [γ], time information [tγ] and change rate [dγ]. ]) Substantially in parallel, by executing the same processing as described above, the estimated value [βn] of the moving speed at the current time [tn] and the current time [tn] An estimated value [γn] of the inclination angle θ is calculated and notified to the arithmetic processing unit 7 respectively.
[0029]
The arithmetic processing unit 7 performs a predetermined calculation using each estimated value ([αn], [βn], [γn]) notified from the calculation preprocessing unit 6, thereby turning the turret 12 turning angle command. Value and elevation / elevation angle command value are calculated. Note that the arithmetic processing unit 7 may actually require other parameters in order to calculate the turning angle command value and the elevation angle command value of the turret 12. For example, LOS turning azimuth and elevation azimuth, which are measurement values (physical quantities) measured by an infrared measurement apparatus which is a kind of measurement apparatus, and measurement values (physical quantities) measured by a gyro different from the observation apparatus C It is a roll or yaw. With respect to these measured values, the reception processing unit 4 and the pre-calculation processing unit 6 execute the above-described processing, whereby respective estimated values are calculated, and these estimated values are converted into turning angle commands by the arithmetic processing unit 7. It is used as a parameter for calculating the value and the elevation angle command value. The arithmetic processing unit 7 outputs the turning angle command value and the elevation angle command value of the turret 12 calculated as described above to the turret servo unit 11 as a target value when the attitude of the turret 12 is numerically controlled. To do.
[0030]
As described above, according to the present embodiment, the estimated values ([αn] to [γn]) used for the calculation in the calculation processing unit 7 are measured values ([[ α] to [γ]), the rate of change ([dα] to [dγ]), and the time ([tα] to [tγ] when the data is received by the reception processing unit 3 (and the post-reception processing unit 4). ]) To the time [tn] at which the calculation is performed by the calculation preprocessing unit 6. That is, during a period from when a certain type of measurement value ([α] to [γ]) is written to the memory 5 until the next measurement value ([α] to [γ]) of the same type is overwritten, The calculation preprocessing unit 6 adds the measured value ([α] to [γ]) read from the memory 5 to the change amount (elapsed time) of the measured value ([α] to [γ]) up to the current time [tn]. And the rate of change) are added to obtain an estimated value ([αn] to [γn]). Therefore, each measurement value stored in the memory 5 at a different period for each observation apparatus and at a different period from the calculation period of the shooting calculation apparatus 1 is read and calculated in a batch according to the calculation period of the shooting calculation apparatus 1. Even if it performs, the error resulting from the age of each measured value included in the calculation result can be suppressed as small as possible.
[0031]
【The invention's effect】
As described above, according to the shooting arithmetic device of the present invention, the physical quantities are measured simultaneously although they are based on the measurement values obtained by asynchronously measuring a plurality of types of physical quantities that change every moment. As a result, it is possible to obtain a calculation result that includes almost no error compared to the case where it is performed.
[Brief description of the drawings]
FIG. 1 is a diagram schematically showing a vehicle equipped with a shooting operation device of the present invention. FIG. 2 is a schematic configuration diagram of a shooting operation device of the present invention. FIG. 3 is executed by a CPU in a post-reception processing unit. FIG. 4 is a flowchart showing processing executed by the CPU in the pre-computation processing unit. FIG. 5 is a schematic configuration diagram of a conventional shooting calculation device. FIG. 6 is a schematic diagram of a conventional shooting calculation device. Configuration diagram [Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Shooting arithmetic unit 2 Time generation part 3 Reception processing part 4 Post-reception processing part 5 Memory 6 Pre-processing part 7 Calculation processing part

Claims (2)

Shooting calculation that executes a predetermined calculation to calculate the turning angle command value and elevation angle command value of the turret based on the measured values obtained by asynchronously measuring a plurality of types of physical quantities that change every moment A device,
A receiving unit that individually receives measurement values for the plurality of types of physical quantities at each measurement time point; and
For each type of physical quantity, each time the receiving unit receives the measurement value, the measurement value is stored in a memory in association with time information indicating the reception time, and the measurement value and the reception time The change rate of the measurement value is calculated based on the difference between the measurement value stored in association with the time information indicating the time point immediately before the time point and the time difference between the reception time point and the time point immediately before the reception value. A first calculation unit that also stores a rate in the memory in association with the measurement value;
When a predetermined instruction is input, for each type of physical quantity, time information indicating the latest time point is read from the memory, and a measurement value and a change rate corresponding to the time information are read, and from the time indicated by the time information A second computing unit that calculates an estimated value at the input time of the predetermined instruction by adding a product of an elapsed time until the input time of the predetermined instruction and the rate of change to the measurement value;
A shooting operation device comprising: a third operation unit that executes the predetermined operation based on an estimated value calculated for each type of the physical quantity. The shooting operation apparatus according to claim 1, further comprising an internal clock that generates the time information indicating the time as the time point.

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