JP4738282B2 - Flying object guidance device - Google Patents

Description

  The present invention relates to a flying object guidance apparatus for guiding a flying object flying toward a meeting point with a moving target mounted with a warhead toward the moving target.

  When you try to detonate a warhead mounted on a flying object and destroy an opponent's moving target such as an enemy missile or a fighter plane, the flying object such as a missile mounted with a warhead will fly to hit the opponent's moving target. The guidance is controlled by a body guidance device.

  However, in the guidance control by the flying object guidance device, it is not easy to perform guidance control so that the flying object such as a missile hits 100% against the moving target of the opponent flying at high speed in the air. In many cases, the target forms a so-called separation distance (hereinafter referred to as “mis-distance” in this specification) and crosses each other so as to pass each other.

  Therefore, even if the flying object does not hit the moving target, in order to destroy or damage the opponent's moving target, the flying object reaches the position closest to the moving target, that is, near the meeting point. It is necessary to detonate the warhead at the same timing.

  In addition, because the explosive behavior characteristics of warheads often differ depending on the type of warhead, it is necessary to set the initiation timing according to the warhead type and performance individually according to the arrival time (meeting time) at the meeting point. .

  Usually, in the flying object guidance device, the meeting time which is the elapsed time to the closest point (meeting point) between the flying object and the moving target is calculated and calculated by a calculation formula, and based on the predicted meeting time, The timing of the detonation of the flying object is determined.

  The data of the calculation formula used for predicting the meeting time is acquired from target information such as a target speed and position obtained by a tracking device such as a seeker provided in the flying object.

  In addition, as an example of the calculation formula used for prediction by calculating the meeting time, “The projectile and the target move in a straight path, intersect at a point where the trajectory is, and the elapsed time until the intersecting point respectively. It is calculated and predicted based on the precondition (assuming) of “equal”. That is, a method is used in which the calculation is performed under the precondition (assumed matter) that the miss distance at the point of closest approach between the flying object and the target is zero.

In addition, as shown in the explanatory diagram of FIG. 11, the flying object 1 and the moving target T have conventionally performed uniform velocity linear flight, for example, formed an engagement angle θ of 45 degrees, and at the meeting point h Assuming that the flying object 1 hits the moving target T without forming a separation amount, from the observed relative distance Rc and relative velocity Vc between the two, the meeting time Tc is determined as the meeting time Tc = (relative distance Rc / It is known that it can be obtained by a calculation formula of relative velocity Vc). (For example, see Patent Document 1)
In addition, there is an example in which the flying object acceleration is calculated using a precondition (assumed matter) having no acceleration, that is, no acceleration. (For example, see Patent Document 2)
JP-A-8-178598 Japanese Patent Laid-Open No. 04-059497

  As shown in the above example, the calculation formulas for predicting the meeting time in the conventional method often assume that the misdistance is zero.

  That is, as shown in FIG. 11 described above, when both the flying object 1 and the moving target T are flying at a constant speed on a straight line, when the flying object 1 hits the moving target T and hits it, Above, the equation meeting time Tc = (relative distance Rc / relative speed Vc) holds.

  Therefore, if there is no observation error in the detection of the movement state such as the current position and speed of both the flying object 1 and the moving target T, the moving object 1 and the moving object can be moved by the pulse radar device mounted on the flying object 1. From the observed values of the relative distance Rc to the target T and the relative velocity Vc, the meeting time Tc close to the actual meeting time can be obtained by calculation using the above formula.

  As described above, the condition for establishing the above formula (Tc = Rc / Vc) is that the flying object 1 and the moving target T both fly on the straight line at the same speed, and the flying object 1 is at the meeting point h. It is premised that the target 2 hits and collides.

  In general, various external forces such as gravity and aerodynamic resistance act on the flying object 1 flying in the air and the moving target T, and both of them are not always flying under a constant thrust. Therefore, it is difficult to say that the flying object 1 flying toward the meeting point and the moving target T are both in constant velocity linear flight. However, as long as it is limited to a very short section area in the vicinity of the meeting point h, for example, about several tens of meters on the near side, not only the flying object 1 but also the moving target T is regarded as moving at a constant speed on the straight line. be able to.

  However, even if the above formula (Tc = Rc / Vc) is flying at a constant velocity on the straight line of the flying object 1 and the moving target T, the two hit at the meeting point h without passing each other. It is only true if the condition of collision is satisfied.

  In other words, in actuality, considering the acceleration of the flying object 1, etc., “The flying object 1 and the target T each move along a straight trajectory, intersect at a certain point, and the elapsed time until the intersecting point is reached. In some cases, the premise that “they are equal to each other” is not satisfied. As a result, there are cases where the misdistance is not zero. If the miss distance does not become zero, the error between the calculated meeting time and the actual meeting time increases as the flying object 1 and the target T approach the closest point.

  If the acceleration of the flying object is not considered as in the conventional method, and the flying object has acceleration, the calculated value of the meeting time and the actual meeting time will be the farther the flying object and the target are from the closest point. And the error will increase.

  For this reason, when the miss distance at the time of the closest approach between the flying object and the target is not zero, there has been a demand for a method capable of calculating the meeting time at the closest point more accurately than the conventional method.

  In addition, when the flying object has acceleration, it is possible to calculate the meeting time more accurately than the conventional method even if it is far from the closest point, and to measure whether it can hit directly even if it is far from the closest point. It was.

  The present invention was made in consideration of the above circumstances, and even when the miss distance at the time of closest approach between the flying object and the target is not zero, the meeting time can be calculated with high accuracy even near the closest point, When the flying object has acceleration, the meeting time can be calculated accurately even if it is far from the closest point, and the target shape is recognized before the flying object approaches the target again, the target radius is detected, An object of the present invention is to provide a flying object guiding apparatus capable of determining whether or not a direct hit can be made with accuracy even from a position closest to the closest point.

According to one aspect of the invention,
A seeker that functions as a sensor to track the target;
The target detected by this seeker is captured and tracked to estimate and calculate the meeting point and meeting time between the flying object and the target, and the misdistance at a predetermined time is obtained from the calculation result. An arithmetic processing unit that generates a guidance signal in comparison with an angular range in which a target can be detected by calculating from detection information;
A steering device controlled by a steering control device that steers the flying object that tracks the target by directing the flying object to the target based on the guidance signal generated by the arithmetic processing unit;
A flying object guidance device equipped with an initiation device for determining the initiation timing of the explosive in the vicinity of the meeting point estimated and calculated by the arithmetic processing unit,
In the relative coordinate system based on the position of the flying object, the arithmetic processing unit is configured to estimate and calculate an association point and an association time between the flying object that performs linear motion at constant speed and the target that performs linear motion at constant speed. A characteristic flying object guidance device is provided.

Further, the arithmetic processing unit, and wherein compared to miss distance and angular range capable of detecting the target, and generates induction signals possible hit if equal to case towards said mis de Isutansu small A flying object guidance device is provided.

Further, the arithmetic processing unit, as compared to the angular range capable of detecting the target and the miss distance, the projectile guiding apparatus and judging impossible hit when towards the miss de Isutansu large Provided.

  According to the embodiment of the present invention, when the miss distance at the time of closest approach between the flying object and the target is not zero, the meeting time can be calculated with high accuracy even near the closest point. As a result, when the flying object has acceleration, the flying object guidance device can calculate the meeting time accurately even if it is far from the closest point, and can determine whether it can hit directly even if it is far from the closest point. Is obtained.

  Moreover, since the misdistance is compared not with the radius of the flying object but with the target radius to determine whether or not the flying object meets the target, it is possible to determine the presence or absence of the meeting more accurately. .

  Hereinafter, an example of the best mode for carrying out the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a configuration of an embodiment of a flying object guiding apparatus according to the present invention.

  The flying object guiding apparatus 10 captures and tracks the flying object 1 as a sensor 2 that functions as a sensor that tracks the target T (for example, shown in FIG. 11), and the target T detected by the seekinger 2. Estimate and calculate the meeting time and meeting point between the body 1 and the target T, further determine the miss distance at a predetermined time, calculate the angle range in which the target T can be detected by calculating from the detection information from the seeker 2, and The arithmetic processing unit 3 that generates a guidance signal according to the comparison result between the angular range and the miss distance, and the target by directing the flying object 1 itself to the target based on the guidance signal generated by the arithmetic processing unit 3 An explosive detonator that effectively controls the steering device 5 controlled by the steering control device 4 to steer the flying object 1 that tracks T, and the meeting point estimated by the arithmetic processing device 3. It is constructed by mounting a detonator 6 which determines the timing.

  As shown in the block diagram of FIG. 2, the seeker 2 is a radio wave seeker mounted on the warhead of the flying object 1, for example. An induction signal is generated based on the reflected radio wave. That is, radar radio waves are emitted from the radar transmitter 2a toward the target (not shown) via the circulator 2b and the antenna 2c. The reflected wave from the target T is received by the radar receiver 2d via the antenna 2c and the circulator 2b, and the received signal is given to the angle measurement processor 3a of the arithmetic processing unit 3. In the angle measurement processing unit 3a, an angle (error angle: radar angle measurement signal) ε between the radar beam and the target is calculated from a given received signal.

  In addition to the radio wave seeker, the seeker 2 can also use an infrared seeker.

  The steering device 5 is controlled by the steering control device 4 and is provided with a plurality of drive shafts projecting outward from the outer peripheral surface of the fuselage 1 such as in a direction orthogonal to the aircraft axis and fixed to the tip of the drive shaft. In addition, the steering blade is controlled so that the angle with respect to the atmospheric direction at the time of flight, that is, the so-called rudder angle can be changed by turning around the axis of the drive shaft. By this control, the aerodynamic force generated in the steering wing is changed by changing the rudder angle, and the attitude of the flying object 1 is controlled so that it can fly toward the target.

  That is, the flying object 1 provided with the steering device 5 controls the amount of rotation around the axis of the drive shaft to be driven by the servo device as the driving means installed inside the fuselage by the steering control device 4. Accordingly, the steering angle, which is an angle with respect to the atmospheric direction at the time of each flight of the steering wing, which is fixed to the tip of the drive shaft and protrudes in a cross shape, for example, from the outer peripheral surface of the fuselage is controlled. With these controls, the angle with respect to the atmospheric direction is changed, and by controlling the aerodynamic force generated on the steering blade with the changed steering angle, the attitude of the flying object 1 is rapidly changed, and the flying object 1 is directed toward the target T. Can fly.

  The detonator 6 changes the detonation signal sent from the detonation signal generation circuit (not shown) into the ignition energy of the explosive and outputs it. The warhead (not shown) explodes by the ignition energy from the detonator 6, generates blast pressure and generates debris. The internal equipment of the target T is destroyed by the blast pressure generated by the warhead explosion and the generated fragments.

  That is, the flying object 1 is guided to fly in the direction of the target T and hits the target T. When the flying object 1 hits the target T, the flying object 1 penetrates the outer plate of the target T and enters the target T at a speed after the penetration. The flying object 1 that has entered the target T explodes by delaying the timing by a fixed time with the time when it hits the target T as a reference time, and destroys the internal equipment of the target T due to the effect of blast pressure and debris.

  Next, the operation of the flying object guiding apparatus 10 having the above-described configuration will be described.

  Note that the flying object guiding apparatus 10 is premised on the following two in operation. (1) Regarding the movement of the target T and the flying object 1, the target T is a constant velocity linear movement, and the flying object 1 is a constant acceleration linear movement. (2) The radius of the target T is Rt.

  First, a coordinate system related to the flying object 1 and the target T will be described with reference to FIG. In FIG. 3, the horizontal axis indicates the horizontal distance, and the vertical axis indicates the distance from the origin O (the altitude in the case of two dimensions). That is, the point O is the origin corresponding to the position of the flying object 1 and the point P is The relative position (x, y, z) of the target T, the point H is the closest point of the flying object 1 to the target T, V is the relative coordinate system velocity vector of the target T, and Vd is the relative velocity between the flying object 1 and the target T. Vector, D is the distance between the target T position and the closest point (distance between PHs), R is the relative distance between the flying object 1 and the target T (distance between OPs), and M is the miss distance between the flying object 1 and the closest point. (Distance between OH).

  Next, the flow of prediction calculation will be described using the coordinate system shown in FIG. 3 along the flowchart shown in FIG.

  First, the relative position P (x, y, z) of the target T is defined as in equation (1). The movement of the target position P with the passage of time is regarded as moving on a straight line here, and is expressed by the following straight line expression (step S1).

This is because if the flying object 1 has a linear acceleration, the movement of the target position P is not strictly on a straight line, but if it is within the region where the detonation device 6 actually performs the detonation, This is because there are few errors caused by considering it as a straight line.

The coordinates of the intersection H (the closest point) between the straight line of the equation (1) and the perpendicular line drawn from the origin O (the position of the flying object 1) to the equation (1) are expressed as follows. Here, t0 represents the time to reach the closest point H.

H coordinate: (Vx.t0 + X, Vy.t0 + Y, Vz.t0 + Z)
The intersection point from the straight line of the equation (1) and the origin O to the perpendicular drawn to the straight line of the equation (1) is H, and a vector (OH) passing through the origin O and passing through the H coordinate is represented by the following equation (2) It can be expressed (step S2).

Since the direction vector of the straight line in the equation (1) and the vector in the equation (2) are orthogonal to each other, the inner product result is zero and can be expressed as the following equation (3).

When the above equation (3) is solved for t0, it can be expressed as the following equation (4) (step S3).

Substituting the calculated value of relative time t0 into equation (1) yields the following equation (5). The coordinate (x0, y0, z0) of the relative position P obtained by the equation (5) is set as the closest point H between the flying object 1 and the target T (step S4).

Next, the distance (D) from the relative position P to the closest point H at time t is obtained by the following equation (6).

Alternatively, the distance (D) from the relative position P to the closest point H at time t can be calculated by the following equation (7) using the relative distance (R) between the flying object 1 and the target T. It is possible (step S5).

Further, the distance (D) from the relative position P to the closest point H at the obtained time t is calculated from the magnitude of the relative coordinate system speed, the magnitude of the relative coordinate system acceleration at the meeting time t, and the meeting time t as follows: It is expressed as equation (8).

As shown in the following equation (9), this equation is solved for time t, and the value of time t is set as the meeting time (step S6).

  However, when the magnitude A of the relative coordinate system acceleration at time T is zero, the value at time t is calculated by the following equation (9-1).

t = D / V (9-1)
FIG. 5 and FIG. 6 show examples of the meeting time error for the meeting time calculated by the above equation (9-1). FIG. 5 assumes “the flying object 1 has no acceleration and no observation error”, and FIG. 6 assumes “the flying object 1 has acceleration and no observation error”.

  That is, in FIG. 5 and FIG. 6, for the flying object 1, the meeting time To and the actual meeting time T calculated by the above equation (9-1) with respect to the distance (horizontal axis) to the meeting point h of the flying object 1. The difference ΔT (vertical axis) is shown.

  As shown in FIGS. 5 and 6, the flying object 1 is different from the actual meeting time T even if the calculated value of the meeting time To calculated by the arithmetic processing unit 3 reaches a position close to the meeting point h. It shows that ΔT hardly occurs.

  Accordingly, when the meeting time To calculated by the arithmetic processing unit 3 is supplied to the detonator 6, the detonator 6 sets an appropriate detonation time according to the operation characteristics of the warhead, and the set detonation time. The detonation circuit can be activated according to Thus, the flying object 1 can effectively detonate the mounted warhead and destroy the opponent movement target T accurately.

  For comparison, FIGS. 7 and 8 show examples of meeting time errors according to the conventional method. 7 assumes that “the flying object 1 has no acceleration and no observation error”, and FIG. 8 assumes that “the flying object 1 has acceleration and no observation error”.

  7 and 8 show the difference ΔT (vertical axis) between the conventional calculated meeting time Tc and the actual meeting time T based on the above formula (Tc = Rc / Vc) with respect to the distance (horizontal axis) from the meeting point h. (Axis) is a characteristic curve.

  7 and 8 both have no observation error, both the flying object 1 and the moving target T fly at a speed of Mach 1.2, and have a separation distance of 4 m at the meeting point h. FIG. 7 shows that the flying object 1 has zero acceleration / deceleration, and FIG. 8 shows that the flying object 1 flies with a deceleration of −5G. It is.

  As shown in FIGS. 7 and 8, the difference ΔT between the calculated meeting time Tc and the actual meeting time T based on the above formula (Tc = Rc / Vc) is the flying object 1 (or the moving target T). Is prominent at a position very close to the meeting point h, and, as shown in FIG. 8, when the flying object 1 is flying with acceleration / deceleration, in a region slightly away from the meeting point h. Also occurs.

  That is, as shown in FIG. 5 and FIG. 6, according to the prediction calculation of the present embodiment, even when the closest distance between the flying object 1 and the target T is not zero, The calculation error of the meeting time does not increase, and the meeting time can be calculated more accurately than in the conventional method. In addition, when the flying object 1 has acceleration, the meeting time calculation error does not increase even if it is far from the closest point, and the meeting time can be calculated more accurately than in the conventional method. .

Further, when the time t obtained by the above prediction calculation is substituted into the equation (1) as the meeting time t1, the following equation (10) is established. The relative position (x1, y1, z1) obtained by the equation (10) is set as the closest point H between the flying object 1 and the target T (step S7).

Distance from relative position to origin at time t1 (M): Miss distance is obtained by the following equation (11) (step S8).

  By increasing the number of beam scans before the flying object 1 and the target T are closest to each other, the data rate is improved, and when the beam is scanned in the angular direction, the beam scan result follows the shape of the target T as shown in FIG. And an angle range (Δθ) in which the target T can be detected is obtained.

(Step S9)
Since the relationship between the target T and the flying object 1 is the relationship shown in FIG. 10, the target T radius (Rt) is set as follows from the relative distance (R) between the angle range (Δθ) in which the target T can be detected and the target T ( It is obtained from equation (12) (step S10).

Rt = R × Tan−1 (Δθ / 2) (12)
Next, it is determined whether or not the previously obtained miss distance M satisfies the target T radius (Rt) (step S11).

  If the previously determined misdistance M satisfies the target T radius (Rt) according to the determination result, it is determined that direct hit is possible (step S12).

  On the other hand, if not satisfied, it is determined that direct hit is impossible (step S13).

M (miss distance) ≤ Rt (target T radius)
As described above, according to the flying object guiding apparatus of the present invention, since the meeting time can be calculated using the misdistance, the conventional method can be used even if the misdistance is not zero, even near the closest point. It is possible to calculate the meeting time with higher accuracy.

  Further, when the flying object 1 has acceleration, the meeting time can be calculated more accurately than the conventional method even if it is far from the closest point.

  As described above, the flying object guiding apparatus 10 according to the present embodiment calculates the miss distance at the closest point when calculating the meeting time, and calculates the meeting time using the calculated value.

  In addition, the meeting time is calculated in consideration of the acceleration of the flying object 1, and an accurate miss distance is obtained according to the meeting time. Further, the shape of the target T is recognized, the target radius is calculated, and whether or not it can be hit directly. Is judged.

  That is, according to the present embodiment, when the miss distance at the time of the closest approach between the flying object 1 and the target T is not zero, the meeting time can be calculated with high accuracy even near the closest point. When there is acceleration, the flying object guiding apparatus 10 can be obtained that can accurately calculate the meeting time even if it is far from the closest point, and can determine whether or not it can hit directly even if it is far from the closest point.

  In addition, the seeker 2 also determines whether or not the flying object 1 meets the target T by comparing the miss distance with the radius of the target T instead of the radius of the flying object 1 in the above embodiment. The effect of more accurately determining the presence or absence of a meeting is obtained.

  Note that the present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Moreover, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the above embodiments. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

The block diagram which shows the structure of one Embodiment of the flying body guidance apparatus which concerns on this invention. The block diagram of the principal part of the control of the seeker used for the flying object guidance apparatus which concerns on this invention. Explanatory drawing of the coordinate system regarding a flying object and a target. The flowchart which shows operation | movement of one Embodiment of the flying object guidance apparatus which concerns on this invention. The graph which shows the example of the meeting time error of one Embodiment of the flying object guidance apparatus which concerns on this invention. The graph which shows the example of the meeting time error of one Embodiment of the flying object guidance apparatus which concerns on this invention. The graph which shows the example of the meeting time error of the conventional flying object guidance apparatus. The graph which shows the example of the meeting time error of the conventional flying object guidance apparatus. Explanatory drawing of the beam scanning result according to the target shape in one Embodiment of the flying body guidance apparatus which concerns on this invention. Explanatory drawing of the relationship between a target and a flying body in one Embodiment of the flying body guidance apparatus which concerns on this invention. Explanatory drawing of the flight operation | movement with the flying body and target of the conventional flying body guidance apparatus.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Flying object, 2 ... Seeker, 3 ... Arithmetic processing apparatus, 4 ... Steering control apparatus, 5 ... Steering apparatus, 6 ... Detonation apparatus, 10 ... Flying object guidance apparatus.

Claims (3)

A seeker that functions as a sensor to track the target;
The target detected by this seeker is captured and tracked to estimate and calculate the meeting point and meeting time between the flying object and the target, and the misdistance at a predetermined time is obtained from the calculation result. An arithmetic processing unit that generates a guidance signal in comparison with an angular range in which a target can be detected by calculating from detection information;
A steering device controlled by a steering control device that steers the flying object that tracks the target by directing the flying object to the target based on the guidance signal generated by the arithmetic processing unit;
A flying object guidance device equipped with an initiation device for determining the initiation timing of the explosive in the vicinity of the meeting point estimated and calculated by the arithmetic processing unit,
In the relative coordinate system based on the position of the flying object, the arithmetic processing unit is configured to estimate and calculate an association point and an association time between the flying object that performs linear motion at constant speed and the target that performs linear motion at constant speed. Characteristic flying object guidance device. The arithmetic processing unit according to compared to the angular range capable of detecting the target and the miss distance, and generates an induction signal of a possible hit if equal to case towards said mis de Isutansu small Item 1. The flying object guiding apparatus according to Item 1. The arithmetic processing unit, as compared to the angular range capable of detecting the target and the miss distance, the projectile according to claim 1, wherein the determining impossible hit when towards the miss de Isutansu large Guidance device.

Images