JP4675659B2 - Infrared induction device - Google Patents

Description

  The present invention relates to an infrared induction device that detects an infrared light emitted from a target and guides a flying object.

  2. Description of the Related Art Conventionally, as a method for guiding a flying object such as a missile, an infrared guiding method for detecting an infrared light emitted from a target and guiding the flying object is known.

  A conventional infrared guiding device will be described with reference to FIGS. FIG. 14 is a block diagram showing a configuration of a conventional infrared guidance device (see, for example, Patent Document 1). FIG. 15 is a diagram showing a digital image signal and a binarized image signal of a conventional infrared guidance device. 15A shows a digital image signal, and FIG. 15B shows a binarized image signal.

  In FIG. 14, the conventional infrared guiding device is an infrared imaging device 2 that photoelectrically converts infrared input light 1 from the outside, and an analog image signal 3 that has been converted into an electrical signal by the infrared imaging device 2 A / The D conversion circuit 4, the binarization circuit 6 that binarizes the converted digital image signal 5, and the binarized image signal 7 binarized by the binarization circuit 6 for each connected region. A labeling circuit 8 for giving a label, a region feature quantity measuring circuit 10 for measuring a feature quantity for each labeled area from the label information 9 and the digital image signal 5 given by the labeling circuit 8; A target determination circuit 12 is provided for determining a target and determining a target coordinate based on a region feature amount 11 composed of the area per region, maximum luminance, and barycentric position measured by the region feature amount measurement circuit 10.

  In the conventional infrared guidance system, as shown in FIG. 15A, a target (for example, a cloud, a sea surface temperature difference, solar reflection) that emits infrared light similar to a number of targets simultaneously with a target (for example, a ship) If it exists, the problem that it is easy to select an incorrect target is not possible at the stage before the target determination circuit 12 as shown in FIG. 15B because the target that emits infrared light similar to the target cannot be narrowed down. there were.

  In addition, since the target that emits infrared light similar to the target cannot be narrowed down, a large amount of label information 9 is generated, which increases the calculation load on the region feature quantity measurement circuit 10 and the target determination circuit 12. there were.

JP 2003-84054 A (first page, FIG. 1)

  In the conventional infrared guidance device as described above, when there is a target that emits infrared light similar to a large number of targets simultaneously with the target, the target that emits infrared light similar to the target at a stage before the target determination circuit 12 Since it was not possible to narrow down, there was a problem that it was easy to select an incorrect target.

  In addition, since the target that emits infrared light similar to the target cannot be narrowed down, a large amount of label information 9 is generated, which increases the calculation load on the region feature quantity measurement circuit 10 and the target determination circuit 12. There was a point.

  The present invention has been made in order to solve the above-described problems, and its purpose is to mistakenly target an object that emits infrared input light having similar infrared image signal characteristics such as the target, area, maximum luminance, and barycentric position. It is possible to obtain an infrared guidance device that can be difficult to detect and can reduce the calculation load for guidance.

  An infrared guiding device according to the present invention is an infrared guiding device that guides a flying object by detecting infrared light emitted from a target by an infrared imaging device, and the target at the time of launching the flying object input from a mother machine A target position calculator for calculating a target position area based on a position, a target maximum moving speed inputted at the time of manufacturing the flying object, and a measured time after the launch of the flying object, and a target position area from the target position calculator The target angle region is calculated based on the target position at the time of launch, the calculated movement amount and attitude angle of the flying object, and the angle formed by the input visual axis of the infrared imaging device and the aircraft axis of the flying object. Of the image signals detected by the target angle area calculator and the infrared imaging device, the signal included in the target angle area is validated and the signal not contained is invalidated to limit the area. The is provided with a the target position filter for outputting the image signal.

  The infrared guiding device according to the present invention can make it difficult to erroneously detect an object that emits infrared input light having similar infrared image signal characteristics such as a target, area, maximum luminance, and center of gravity, and the calculation load for guidance There is an effect that can be lowered.

Embodiment 1 FIG.
An infrared induction device according to Embodiment 1 of the present invention will be described with reference to FIGS. FIG. 1 is a block diagram showing a basic configuration of an infrared guiding device according to Embodiment 1 of the present invention. In addition, in each figure, the same code | symbol shows the same or equivalent part.

  In FIG. 1, the infrared guiding device according to the first embodiment includes an infrared imaging device 2 that photoelectrically converts infrared input light 1 from the outside, and an analog image signal 3 that has been converted into an electrical signal by the infrared imaging device 2. A / D conversion circuit 4 that performs digital conversion, a target position calculator 15 that calculates a target position area 16, and a target angle area calculator that converts the target position area 16 to a target angle area 18 around the visual axis of the infrared imaging device 2. 17, a target position filter 13 that outputs a digital image signal 14 in which the signal included in the target angle region 18 of the digital image signal 5 is validated and a signal that is not contained is invalidated, and the region is limited; A binarization circuit 6 for binarization and a labeling circuit for assigning a label to each connected region of the binarized image signal 7 binarized by the binarization circuit 6 Then, from the label information 9 and the digital image signal 14 given by the labeling circuit 8, the area feature quantity measurement circuit 10 that measures the feature quantity for each labeled area, and the area feature quantity measurement circuit 10 measure A target determination circuit 12 is provided that determines a target by determining a target from a region feature amount 11 including the area per region, maximum luminance, and center of gravity position.

  Here, as described above, the target angle area 18 is information obtained by converting the target position area 16 calculated by the target position calculator 15 around the visual axis of the infrared imaging device 2 by the target angle area calculator 17.

  Next, the operation of the infrared guiding device according to the first embodiment will be described with reference to the drawings.

  First, derivation of the target position area 16 will be described with reference to FIGS. 2, 3, 4 and 5. FIG. Here, the target is considered as a ship navigating the surface of the sea.

  FIG. 2 is a block diagram for explaining the operation of the target position calculator of the infrared guidance apparatus according to Embodiment 1 of the present invention. FIG. 3 is a block diagram for explaining an input to the flying object database of the infrared guiding device according to the first embodiment of the present invention. FIG. 4 is a diagram for explaining an operation at the time of launching of the infrared guiding device according to the first embodiment of the present invention. FIG. 5 is a diagram for explaining an operation after t seconds from the launch of the infrared guiding device according to the first embodiment of the present invention.

  In FIG. 2, the target position calculator 15 calculates the target position area 16 with the target position 20 at the time of launch, the target maximum moving speed 21 and the time 23 after the launch as inputs. The flying object database 19 stores and reads the input data. The target position 20 at the time of launch and the target maximum moving speed 21 are read from the flying object database 19. The flying object counter 22 measures the time after the flying object is launched. That is, the time 23 after the launch is measured by the flying object counter 22.

  In FIG. 3, the target position 20 at the time of launch is transferred and stored from the mounted firearm control device 24 to the flying object database 19 at the time of launching the flying object, and the target maximum moving speed 21 is the flying object at the time of flying object manufacture. Input / saved in the database 19. This mounted mother machine fire control device 24 is mounted on the mother machine.

  As shown in FIG. 4, first, the origin is set as a target position 20 at the time of launch. Here, if the time 23 after launch is t, and the target maximum moving speed 21 is set to V, the target position area 16 has a circular shape with a radius V · t centered on the origin on the water surface as shown in FIG. It becomes.

  Next, derivation of the target angle region 18 will be described with reference to FIGS.

  FIG. 6 is a block diagram for explaining the operation of the target angle region calculator of the infrared guidance device according to Embodiment 1 of the present invention. FIG. 7 is a view for explaining the angle formed by the visual axis of the infrared guidance device according to Embodiment 1 of the present invention, the attitude angle of the flying object, and the aircraft axis.

  In FIG. 6, the target angle area calculator 17 includes a target position area 16, a target position 20 at launch, a flying object movement amount 26, a flying object attitude angle 27, and a visual axis of the infrared imaging device 2. And a target angle region 18 is calculated using the angle 29 formed by the axis of the flying object.

  The flying object inertia device 25 calculates the flying object movement amount 26 and the attitude angle 27 by accumulating the acceleration and angular velocity of the flying object. That is, the flying object movement amount 26 and the attitude angle 27 are calculated by the flying object inertia device 25. The space stabilizer 28 controls the visual axis of the infrared imaging device 2. An angle 29 formed by the visual axis of the infrared imaging device 2 and the axis of the flying object is generated by the space stabilizer 28.

  Here, the target is considered as a ship navigating the surface of the sea, but in order to make it a simple model, it is considered only on a plane that includes the target, the flying body, and the sea surface normal. In this case, the target position area 16 is expressed by the following equation.

The target position 20 at the time of launch when viewed from the flying object is (x, z) = (R _x0 , −R _z0 ), and the moving amount 26 of the flying object is (x, z) = (r _x , −r _z ), the target angle region θ ′ _ele with respect to the horizontal direction is expressed by the following equation.

  As shown in FIG. 7, when the flying object attitude angle 27 is α, and the angle 29 formed by the visual axis of the infrared imaging device 2 and the flying machine axis is β, the target angle region 18 is expressed by the following equation. Indicated.

  That is, the infrared guidance device according to the first embodiment uses the maximum target moving speed and the flying time after launching the flying object employing the infrared guidance method to predict the target position area 16. Using the function, the moving amount of the flying object after launching the flying object and the target position area 16, a target angle calculation function for converting into the target angle area 18 on the infrared image, and the target angle area 18 on the infrared image And a target position filter function for narrowing the target search range on the infrared image by making the signal in the inside valid and making the signal outside the target angle region 18 invalid.

  FIG. 8 is a diagram showing a digital image signal, a region-limited digital image signal, and a binarized image signal of the infrared guiding device according to Embodiment 1 of the present invention. In FIG. 8, (a) shows the digital image signal 5, (b) shows the digital image signal 14 whose area is limited, and (c) shows the binarized image signal 7. As shown in FIG. 8A, when there is a target (for example, clouds, sea surface temperature difference, solar reflection) that emits infrared light similar to many targets at the same time as the target (for example, a ship), FIG. As shown in FIG. 8B, the target position filter 13 narrows down targets that emit infrared light similar to the target, and only the target is detected as shown in FIG.

  In the first embodiment, the target position area 16 is derived and converted into the target angle area 18 in the digital image signal, so that the luminance distribution, area, etc. existing outside the target position area 16 as shown in FIG. The effect of not erroneously detecting an object emitting infrared light whose infrared image signal characteristics are similar to the target can be obtained. Further, since the signal processing is not performed on signals other than the target angle region 18 in the digital image signal, the calculation load can be reduced.

Embodiment 2. FIG.
An infrared guiding apparatus according to Embodiment 2 of the present invention will be described with reference to FIGS. FIG. 9 is a block diagram for explaining the operation of the target position calculator of the infrared guidance apparatus according to Embodiment 2 of the present invention. FIG. 10 is a block diagram for explaining the input to the flying object database of the infrared guiding device according to the second embodiment of the present invention. The basic configuration of the infrared guiding device according to Embodiment 2 of the present invention is the same as that of Embodiment 1 shown in FIG.

  First, derivation of the target position region 16 will be described with reference to FIGS. 9 and 10. The same reference numerals (19 to 29) are the same as those in the first embodiment.

  In FIG. 9, the target position calculator 15 calculates a target position 20 at the time of launch, a time 23 after the launch, a target speed / movement direction 30 at the time of launch, and a target maximum moving speed / acceleration performance / turning performance 33. The target position area 16 is calculated as an input.

  The target speed / movement direction 30 at the time of launch is read from the flying object database 19. The target model input value 31 is read from the flying object database 19. The target model database 32 receives the target model input value 31 and derives the target maximum moving speed / acceleration performance / turning performance 33 corresponding thereto. That is, the target maximum moving speed / acceleration performance / turning performance 33 is derived from the target model database 32.

  In FIG. 10, the target position 20 at the time of launch and the target speed / movement direction 30 at the time of launch are transferred and stored from the onboard firearm control device 24 to the flying object database 19 at the time of launching the flying object. Are input and stored in the flying object database 19 from the target model input device 34 installed in the mounted mother machine when the flying object is launched.

  Subsequently, the derivation of the target angle region 18 of the second embodiment is the same as that of the first embodiment shown in FIG.

  That is, in the infrared guiding device according to the second embodiment, the target model input value 31 is transferred to the manual input / flying body by the onboard mother machine before launching the flying object, and the target model input value 31 is transferred to the flying object. A function that reads the target maximum movement speed / acceleration performance / turning performance 33 with a target model database 32, flight time after launching the flying object, and measurement with the flying machine's mother machine immediately before launching the flying object. Provided with a target position calculation function for predicting the target position area 16 by using the target movement speed / direction and the maximum target movement speed / acceleration performance / turning performance output from the target model database 32. It is.

  In the second embodiment, the target position area 16 is calculated by adding information on the target speed / movement direction 30 at the time of launch and the target maximum movement speed / acceleration performance / turning performance 33 as compared with the first embodiment. Thus, the target angle region 18 can be predicted more precisely than in the first embodiment. The target position area 16 indicates a narrower area than that of the first embodiment, and a target existing outside the target position area 16 and infrared image signal characteristics such as luminance distribution / area as compared with the first embodiment. It is possible to obtain an effect that makes it difficult to erroneously detect a target that emits similar infrared light. Similarly to the first embodiment, the calculation load can be reduced by not performing signal processing on signals other than the target angle region 18 in the digital image signal.

Embodiment 3 FIG.
An infrared guiding apparatus according to Embodiment 3 of the present invention will be described with reference to FIGS. 11, 12, and 13. FIG. FIG. 11 is a block diagram for explaining the operation of the target position calculator of the infrared guidance apparatus according to Embodiment 3 of the present invention. FIG. 12 is a block diagram for explaining the input to the flying object database of the infrared guiding device according to the third embodiment of the present invention. FIG. 13 is a block diagram for explaining the operation of the target angle region calculator of the infrared guidance apparatus according to Embodiment 3 of the present invention. The basic configuration of the infrared guiding apparatus according to Embodiment 3 of the present invention is the same as that of Embodiment 1 shown in FIG.

  First, derivation of the target position region 16 will be described with reference to FIGS. 11 and 12. The same reference numerals (19 to 34) are the same as those in the second embodiment.

  In FIG. 11, the target position calculator 15 includes a target position 20 at launch, a time 23 after launch, a target speed / movement direction 30 at launch, a maximum target moving speed / acceleration performance / turning performance 33, The target position area 16 is calculated by using the onboard firearm control device error 35 as an input.

  The mounted mother machine fire control device error 35 is read from the flying object database 19. Here, as shown in FIG. 12, the installed mother machine fire control device error 35 is input and stored in the flying object database 19 when the flying object is manufactured.

  Next, derivation of the target angle region 18 will be described with reference to FIG. The same reference numerals (19 to 34) are the same as those in the second embodiment.

  In FIG. 13, the target angle area calculator 17 includes a target position area 16, a target position 20 at the time of launch, a flying object movement amount 26, a flying object attitude angle 27, and a visual axis of the infrared imaging device 2. The target angle region 18 is calculated by inputting the angle 29 formed by the axis of the flying body, the installed main machine fire control device error 35, the flying body inertia device error 36, and the space stabilizer error 37.

  The flying object inertia device error 36 and the space stabilizer error 37 are read from the flying object database 19. Here, as shown in FIG. 12, the flying body inertia device error 36 and the space stabilization device error 37 are input to the flying body database 19 at the time of manufacturing the flying body, as with the installed mother machine fire control system error 35.・ Saved.

  That is, the infrared guidance device according to the third embodiment inputs in advance the error of the onboard firearm control device 24 used when deriving the target position region 16, and changes the target position region 16 that changes by including the error. A function for deriving a comprehensive region and an error of the onboard firearm control device 24, the flying body inertia device 25, and the space stabilizer 28 used when deriving the target angle region 18 are input in advance, and the error is calculated. And a function for deriving a region including all of the target angle regions 18 that change by inclusion.

  In the third embodiment, the target angle region 18 corresponding to the degree of error of the equipment to be used is predicted by reflecting the errors of the mounted mother machine fire control device 24, the flying body inertia device 25, and the space stabilizer 28. It becomes possible to do.

It is a block diagram which shows the basic composition of the infrared rays guidance apparatus which concerns on Embodiment 1 of this invention. It is a block diagram for demonstrating operation | movement of the target position calculator of the infrared guidance device which concerns on Embodiment 1 of this invention. It is a block diagram for demonstrating the input to the flying object database of the infrared rays guidance apparatus which concerns on Embodiment 1 of this invention. It is a figure for demonstrating the operation | movement at the time of discharge | release of the infrared guidance device which concerns on Embodiment 1 of this invention. It is a figure for demonstrating operation | movement after the discharge | emission t second of the infrared rays guidance apparatus which concerns on Embodiment 1 of this invention. It is a block diagram for demonstrating operation | movement of the target angle area | region computer of the infrared guidance device which concerns on Embodiment 1 of this invention. It is a figure for demonstrating the angle | corner which the visual axis of the infrared guidance device which concerns on Embodiment 1 of this invention, the attitude angle of a flying body, and an aircraft axis | shaft. It is a figure which shows the digital image signal of the infrared guidance device which concerns on Embodiment 1 of this invention, the digital image signal by which the area | region was restrict | limited, and the binarized image signal. It is a block diagram for demonstrating operation | movement of the target position computer of the infrared guidance device which concerns on Embodiment 2 of this invention. It is a block diagram for demonstrating the input to the flying object database of the infrared rays guidance apparatus which concerns on Embodiment 2 of this invention. It is a block diagram for demonstrating operation | movement of the target position calculator of the infrared guidance device which concerns on Embodiment 3 of this invention. It is a block diagram for demonstrating the input to the flying object database of the infrared guidance device which concerns on Embodiment 3 of this invention. It is a block diagram for demonstrating operation | movement of the target angle area | region computer of the infrared guidance device which concerns on Embodiment 3 of this invention. It is a block diagram which shows the structure of the conventional infrared guidance apparatus. It is a figure which shows the digital image signal and binarized image signal of the conventional infrared guidance apparatus.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Infrared input light, 2 Infrared imaging device, 3 Analog image signal, 4 A / D conversion circuit, 5 Digital image signal, 6 Binary circuit, 7 Binary image signal, 8 Labeling circuit, 9 Label information, 10 Area feature quantity measurement circuit, 11 Area feature quantity, 12 Target determination circuit, 13 Target position filter, 14 Digital image signal, 15 Target position calculator, 16 Target position area, 17 Target angle area calculator, 18 Target angle area, 19 Body database, 20 target position, 21 target maximum moving speed, 22 flying body counter, 23 time after launch, 24 onboard firearm control device, 25 flying body inertial device, 26 flying body movement, 27 flying Body posture angle, 28 Space stabilizer, 29 Angle between the visual axis of the infrared imaging device and the axis of the flying object, 30 Target speed Direction of movement, 31 Target model input value, 32 Target model database, 33 Target maximum moving speed / acceleration performance / turning performance, 34 Target model input device, 35 Onboard firearm control device error, 36 Flying body inertia device error, 37 Spatial stabilizer error.

Claims (15)

An infrared guiding device that guides a flying object by detecting infrared light emitted from a target by an infrared imaging device,
A target for calculating a target position area based on a target position at the time of launch of the flying object input from a mother aircraft, a target maximum moving speed input at the time of manufacturing the flying object, and a measured time after the launch of the flying object. A position calculator;
The target position area from the target position calculator, the target position at the time of launch, the calculated movement amount and attitude angle of the flying object, and the angle formed by the input visual axis of the infrared imaging apparatus and the flying object axis A target angle region calculator that calculates a target angle region based on
A target position filter that outputs a signal in which the region is limited by invalidating a signal included in the target angle region and invalidating a signal included in the target angle region among the image signals detected by the infrared imaging device. Infrared induction device. A flying object database storing the target position at the time of launch and the target maximum moving speed;
A flying object counter for measuring the time after the flying object is fired;
The target position calculator inputs a target position at the time of launch and the target maximum moving speed from the flying object database, and inputs a time after the launch from the flying object counter. The infrared induction device according to 1. The said flying object database inputs the target position at the time of launching from an onboard mother machine fire control system at the time of flying object, and inputs the maximum target moving speed at the time of flying object manufacturing. 2. The infrared induction device according to 2. A flying object database for storing the target position at the time of launch;
A flying object inertial device for calculating the moving amount and posture angle of the flying object by accumulating the acceleration and angular velocity of the flying object;
A space stabilizer for controlling the visual axis of the infrared imaging device and generating an angle formed by the visual axis of the infrared imaging device and the axis of the flying object;
The target angle region calculator inputs a target position at the time of launch from the flying object database, inputs a moving amount and a posture angle of the flying object from the flying object inertial device, and inputs the target angle from the space stabilizer. The infrared guidance device according to claim 1, wherein an angle formed by a visual axis of the infrared imaging device and an axis of the flying object is input. 5. The infrared guidance device according to claim 4, wherein the flying object database is inputted with a target position at the time of launching from an installed mother machine fire control device at the time of launching the flying object. An infrared guiding device that guides a flying object by detecting infrared light emitted from a target by an infrared imaging device,
Based on the target position, target speed and moving direction at the time of launching the flying object input from the mother aircraft, the measured time after launching the flying object, and the maximum moving speed, acceleration performance and turning performance of the input target. A target position calculator for calculating a target position area;
The target position area from the target position calculator, the target position at the time of launch, the calculated movement amount and attitude angle of the flying object, and the angle formed by the input visual axis of the infrared imaging apparatus and the flying object axis A target angle region calculator that calculates a target angle region based on
A target position filter that outputs a signal in which the region is limited by invalidating a signal included in the target angle region and invalidating a signal included in the target angle region among the image signals detected by the infrared imaging device. Infrared induction device. A flying object database for storing the target position at the time of launch, the target speed and moving direction at the time of launch, and a target model input value;
A flying object counter for measuring the time after the flying of the flying object,
A target model database for deriving the maximum moving speed, acceleration performance and turning performance of the target based on the target model input value from the flying object database;
The target position calculator inputs a target position at the time of launch, a target speed and a moving direction at the time of launch from the flying object database, inputs a time after the launch from the flying object counter, and the target The infrared guidance device according to claim 6, wherein the target maximum moving speed, acceleration performance, and turning performance are input from a model database. In the flying object database, the target position at the time of launching, the target speed and moving direction at the time of launching are input from the mounted mother machine fire control device at the time of launching the flying object, and the target model input value is inputted. The infrared guidance device according to claim 7, wherein the infrared guidance device is inputted from a target model input device at the time of launch. A flying object database for storing the target position at the time of launch;
A flying object inertial device for calculating the moving amount and posture angle of the flying object by accumulating the acceleration and angular velocity of the flying object;
A space stabilizer for controlling the visual axis of the infrared imaging device and generating an angle formed by the visual axis of the infrared imaging device and the axis of the flying object;
The target angle region calculator inputs a target position at the time of launch from the flying object database, inputs a moving amount and a posture angle of the flying object from the flying object inertial device, and inputs the target angle from the space stabilizer. The infrared guidance device according to claim 6, wherein an angle formed by a visual axis of the infrared imaging device and an axis of the flying object is input. The infrared guidance device according to claim 9, wherein the flying object database is input with a target position at the time of launching from an onboard firearm control device at the time of launching the flying object. An infrared guiding device that guides a flying object by detecting infrared light emitted from a target by an infrared imaging device,
The target position, target speed and moving direction at the time of launching the flying object input from the mother aircraft, the measured time after launching the flying object, the maximum moving speed of the input target, acceleration performance and turning performance, and the flying A target position calculator for calculating a target position area based on an error of the mounted mother machine fire control device input at the time of the manufacture of the fuselage,
Target position area from the target position calculator, target position at the time of launch, calculated movement amount and attitude angle of the flying object, angle formed by the input visual axis of the infrared imaging device and the flying object axis, And a target angle area calculator that calculates a target angle area based on the mounted mother machine fire control device error, the flying body inertial device error, and the space stabilization device error that were input when the flying body was manufactured,
A target position filter that outputs a signal in which the region is limited by invalidating a signal included in the target angle region and invalidating a signal included in the target angle region among the image signals detected by the infrared imaging device. Infrared induction device. A flying object database for storing the target position at the time of launch, the target speed and moving direction at the time of launch, the target model input value, and the installed mother machine fire control device error,
A flying object counter for measuring the time after the flying of the flying object,
A target model database for deriving the maximum moving speed, acceleration performance and turning performance of the target based on the target model input value from the flying object database;
The target position calculator inputs a target position at the time of launch, a target speed and a moving direction at the time of launch, and an error of the onboard firearm control device from the flying object database, and after the launch from the flying object counter. The infrared guidance device according to claim 11, wherein the target maximum database speed, acceleration performance, and turning performance are input from the target model database. In the flying object database, the target position at the time of launching, the target speed and moving direction at the time of launching are input from the mounted mother machine fire control device at the time of launching the flying object, and the target model input value is input to the flying object The infrared guidance device according to claim 12, wherein an error is input from a target model input device at the time of launch, and the error of the onboard mother machine fire control device is input at the time of flying object manufacturing. A flying object database for storing the target position at the time of launch, the onboard firearm control device error, the flying object inertial device error, and the space stabilizer error;
A flying object inertial device for calculating the moving amount and posture angle of the flying object by accumulating the acceleration and angular velocity of the flying object;
A space stabilizer for controlling the visual axis of the infrared imaging device and generating an angle formed by the visual axis of the infrared imaging device and the axis of the flying object;
The target angle area calculator inputs the target position at the time of launch, the onboard firearm control device error, the flying body inertial device error, and the space stabilizer error from the flying object database, and the flying object The movement amount and posture angle of the flying object are input from an inertial device, and the angle formed by the visual axis of the infrared imaging device and the axis of the flying object is input from the space stabilization device. The infrared induction device described. In the flying object database, the target position at the time of launching is input from an installed mother machine fire control device at the time of launching the flying object, the installed mother machine fire control device error, the flying object inertial device error, and the space stabilization device. The infrared guidance device according to claim 14, wherein the error is input when the flying object is manufactured.

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