JP4756698B2 - Flying object guidance method and guidance system - Google Patents

Flying object guidance method and guidance system Download PDF

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JP4756698B2
JP4756698B2 JP2006154576A JP2006154576A JP4756698B2 JP 4756698 B2 JP4756698 B2 JP 4756698B2 JP 2006154576 A JP2006154576 A JP 2006154576A JP 2006154576 A JP2006154576 A JP 2006154576A JP 4756698 B2 JP4756698 B2 JP 4756698B2
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flying object
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規文 緒方
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IHI Aerospace Co Ltd
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Description

本発明は飛翔体（ミサイル等）を目標に誘導する誘導方法及び誘導システムに関する。   The present invention relates to a guidance method and a guidance system for guiding a flying object (such as a missile) to a target.

図３は、従来の飛翔体（ミサイル）の誘導方法を説明する図である。図３に示すように、従来の飛翔体の誘導方法では、予め設定された経路に沿って目標近辺まで飛翔体４０を誘導する中間誘導を行い、飛翔体４０が目標近辺まで到達したら、飛翔体を目標４１に着弾するように誘導する終末誘導を行なう（例えば、下記特許文献１〜４参照）。   FIG. 3 is a diagram for explaining a conventional method for guiding a flying object (missile). As shown in FIG. 3, in the conventional flying object guidance method, intermediate guidance for guiding the flying object 40 to the vicinity of the target is performed along a preset route, and when the flying object 40 reaches the vicinity of the target, the flying object To the target 41 is performed (see, for example, Patent Documents 1 to 4 below).

図４は、飛翔体４０に搭載された、従来の終末誘導装置４３の概略構成を示すものである。終末誘導装置４３は、目標を捕捉するための光波、赤外線、電波などを受けるセンサ部４４と、このセンサ部４４が取り付けられＸ軸（紙面に垂直な軸）及びＹ軸を中心に回動動作するジンバル機構４５とを備えている。このように構成された終末誘導装置４３では、飛翔体４０が目標近辺まで到達したときに、ジンバル機構４５が首振り動作してセンサ部の視野範囲に目標４１を捉えることにより、目標４１の捜索、識別、追跡を実行する。   FIG. 4 shows a schematic configuration of a conventional terminal guidance device 43 mounted on the flying object 40. The terminal guidance device 43 is rotated around the X axis (axis perpendicular to the paper surface) and the Y axis to which the sensor unit 44 that receives light waves, infrared rays, radio waves and the like for capturing a target is attached. The gimbal mechanism 45 is provided. In the terminal guidance device 43 configured in this way, when the flying object 40 reaches the vicinity of the target, the gimbal mechanism 45 swings to capture the target 41 in the field of view of the sensor unit, thereby searching for the target 41. , Identify and track.

特開平５−１５００３０号公報JP-A-5-150030 特開平５−２８８４９６号公報Japanese Patent Application Laid-Open No. 5-28896 特開平８−１４７９８号公報JP-A-8-14798 特開平１０−３０７０００公報Japanese Patent Laid-Open No. 10-307000

上述した従来の飛翔体の誘導方法では、ジンバル機構４５を用いているために、機構が複雑なメカトロニクス系になる、終末誘導装置４３の小型化、低価格化が困難となる、という問題があった。さらに、次のような問題があった。
ジンバル機構４５では、各回動軸に軸受が設置されている。近年、長射程化に伴い、砲弾においても誘導を行なうことで、着弾精度を維持もしくは向上させる試みがなされている。しかし、砲発射などのように高い発射Ｇ環境において、例えば、センサ部４４の１Ｇでの重量が約２００ｇの場合で発射環境が１６０００Ｇのときには、発射時のセンサ部４４の重量は３．２ｔにも達する。このような荷重に耐えられるよう軸受を選定すると、必要な軸受の直径は、例えば１２０ｍｍとなってしまう（参照：機械要素設計、実教出版）。ところが、飛翔体の直径を１５５ｍｍと仮定した場合、搭載できる軸受の寸法は３０ｍｍ程度に制限される。したがって、直径３０ｍｍの軸受では荷重に耐えられずに損傷してしまい、結果としてジンバル機構４５が作動せず、終末誘導を行なうことができない事態を招く恐れがあるという問題があった。 In the above-described conventional flying object guiding method, since the gimbal mechanism 45 is used, there is a problem that the mechanism becomes a complicated mechatronics system, and it is difficult to reduce the size and cost of the terminal guiding device 43. It was. Furthermore, there were the following problems.
In the gimbal mechanism 45, a bearing is installed on each rotating shaft. In recent years, attempts have been made to maintain or improve the landing accuracy by guiding the shells as the range increases. However, in a high launch G environment such as a gun launch, for example, when the weight of 1G of the sensor unit 44 is about 200 g and the launch environment is 16000 G, the weight of the sensor unit 44 at the time of launch is 3.2 t. Also reach. If a bearing is selected so as to be able to withstand such a load, the required diameter of the bearing is, for example, 120 mm (see: Machine Element Design, Practical Publication). However, assuming that the diameter of the flying object is 155 mm, the size of the bearing that can be mounted is limited to about 30 mm. Therefore, the bearing having a diameter of 30 mm has a problem in that the bearing cannot withstand the load and is damaged, and as a result, the gimbal mechanism 45 does not operate and the terminal guidance cannot be performed.

本発明は上述した問題に鑑みてなされたものであり、センサ部の設置構造の簡素化、小型化および低価格化を実現することができるとともに、終末誘導の実行の確実性及び信頼性を向上できる飛翔体の誘導方法及び誘導システムを提供することを目的とする。   The present invention has been made in view of the above-described problems, and can realize simplification, downsizing, and cost reduction of the installation structure of the sensor unit, and improve the reliability and reliability of execution of terminal guidance. It is an object of the present invention to provide a flying object guiding method and guiding system.

上記目的を達成するため、本発明にかかる飛翔体の誘導方法および誘導システムは、以下の手段を採用する。
すなわち、本発明にかかる飛翔体の誘導方法は、予め設定された経路に沿って目標近辺まで飛翔体を誘導する中間誘導を行い、前記飛翔体が目標近辺まで到達したときに前記中間誘導に引き続いて前記飛翔体に搭載したセンサ部により目標を捕捉して前記飛翔体を目標に着弾するように誘導する終末誘導を行なう飛翔体の誘導方法であって、前記飛翔体の機体に対する前記センサ部の姿勢を調整できるように前記センサ部を前記飛翔体の機体に固定可能な構成としておき、前記飛翔体の発射前に、前記中間誘導によって前記飛翔体が前記目標近辺に到達したときに前記センサ部の視野範囲に前記目標が入るように前記飛翔体の機体に対する前記センサ部の姿勢を調整して固定する、ことを特徴とする。 In order to achieve the above object, the flying object guiding method and guiding system according to the present invention employ the following means.
That is, the flying object guidance method according to the present invention performs intermediate guidance for guiding the flying object to the vicinity of the target along a preset route, and continues to the intermediate guidance when the flying object reaches the vicinity of the target. A flying body guidance method for performing terminal guidance for capturing a target by a sensor unit mounted on the flying body and guiding the flying body to land on the target. The sensor unit is configured to be fixed to the flying body so that the attitude can be adjusted, and when the flying body reaches the target vicinity by the intermediate guidance before launching the flying body, the sensor unit The attitude of the sensor unit with respect to the airframe of the flying object is adjusted and fixed so that the target falls within the visual field range.

このように、目標近辺まで飛翔体を中間誘導するので、終末誘導の開始時の図２に示す誤差バスケットを小さくすることができる。また、飛翔体の機体に対するセンサ部の姿勢を調整できるようにセンサ部を飛翔体の機体に固定可能な構成としておき、飛翔体の発射前に、中間誘導によって飛翔体が目標近辺に到達したときにセンサ部の視野範囲に目標が入るように飛翔体の機体に対するセンサ部の姿勢を調整して固定するので、センサ部によって目標を捕捉し、追尾し、飛翔体を目標まで誘導することができる。
本発明によれば、センサ部を飛翔体の機体に固定する構造としたことによって、ジンバル機構を不要としたので、センサ部の設置構造の簡素化、小型化、低価格化を実現できる。また、上述したジンバル機構では、発射時の衝撃によって軸受が損傷した場合、終末誘導を行なえないという事態が生じるが、本発明では、発射から着弾までセンサ部の姿勢を一定に保持するので、ジンバル機構のような問題は生じ得ないため、信頼性が格段に向上する。 As described above, since the flying object is intermediately guided to the vicinity of the target, the error basket shown in FIG. 2 at the start of terminal guidance can be reduced. In addition, the sensor unit can be fixed to the flying body so that the attitude of the flying body with respect to the flying body can be adjusted, and when the flying body reaches the target vicinity by intermediate guidance before the flying body Since the attitude of the sensor unit is adjusted and fixed so that the target falls within the field of view of the sensor unit, the target can be captured and tracked by the sensor unit, and the flying object can be guided to the target. .
According to the present invention, since the gimbal mechanism is not required by adopting a structure in which the sensor unit is fixed to the flying vehicle body, the sensor unit installation structure can be simplified, reduced in size, and reduced in price. Further, in the above-described gimbal mechanism, when the bearing is damaged due to the impact at the time of launch, there is a situation in which the terminal guidance cannot be performed. Since a problem like a mechanism cannot occur, the reliability is remarkably improved.

また、本発明にかかる飛翔体の誘導システムは、予め設定された経路に沿って目標近辺まで飛翔体を誘導する中間誘導装置と、前記飛翔体に搭載され当該飛翔体が目標近辺まで到達したときに前記中間誘導装置による誘導に引き続いて飛翔体を目標に着弾するように誘導する終末誘導装置と、を備えた飛翔体の誘導システムであって、前記終末誘導装置は、前記目標を捕捉するセンサ部と、前記飛翔体の機体に対する前記センサ部の姿勢を調整できるように前記センサ部を前記飛翔体の機体に固定する固定機構と、前記センサ部からの情報に基づいて前記飛翔体を制御する制御部とを有し、前記センサ部は、前記中間誘導装置によって前記飛翔体が前記目標近辺に到達したときに当該センサ部の視野範囲に前記目標が入るように、前記飛翔体の発射前に姿勢が調整されて前記飛翔体の機体に固定される、ことを特徴とする。   The flying object guidance system according to the present invention includes an intermediate guiding device that guides the flying object to the vicinity of the target along a preset route, and the flying object that is mounted on the flying object and reaches the vicinity of the target. And a terminal guidance device that guides the flying object to land on the target following the guidance by the intermediate guidance device, wherein the terminal guidance device is a sensor that captures the target. A flying mechanism based on information from the sensor unit, a fixing mechanism for fixing the sensor unit to the flying machine body so that the attitude of the sensor unit with respect to the flying machine body can be adjusted. A control unit, and the sensor unit is configured so that the target enters the visual field range of the sensor unit when the flying object reaches the vicinity of the target by the intermediate guidance device. Posture before firing is fixed to the body of the projectile is adjusted, characterized in that.

このように構成された飛翔体の誘導システムにより、上述した飛翔体の誘導方法を実施することができる。   With the flying object guidance system configured as described above, the flying object guidance method described above can be implemented.

本発明によれば、センサ部の設置構造の簡素化、小型化および低価格化を実現することができるとともに、終末誘導の実行の確実性及び信頼性を向上できる。   According to the present invention, the installation structure of the sensor unit can be simplified, downsized, and the price can be reduced, and the reliability and reliability of execution of terminal guidance can be improved.

以下、本発明の好ましい実施形態を添付図面に基づいて詳細に説明する。なお、各図において共通する部分には同一の符号を付し、重複した説明を省略する。   Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

図１及び図２は、本発明の実施形態にかかる飛翔体２の誘導システム１０の概要を説明する図である。この誘導システム１０は、飛翔体２を目標１に誘導するものであり、中間誘導装置１２と、終末誘導装置１４とを備えている。   FIG.1 and FIG.2 is a figure explaining the outline | summary of the guidance system 10 of the flying body 2 concerning embodiment of this invention. The guidance system 10 guides the flying object 2 to the target 1 and includes an intermediate guidance device 12 and a terminal guidance device 14.

中間誘導装置１２は、予め設定された経路に沿って目標近辺（例えば目標１から数ｋｍ）まで飛翔体２を誘導するものであり、例えば、全地球測位装置（ＧＰＳ）、慣性誘導装置（ＩＮＳ）、地形照合装置（ＴＥＲＣＯＭ）等を用いることができる。本実施形態において中間誘導装置１２は、飛翔体２に搭載されているが、発射側（母機、母艦など）に搭載されていてもよく、この場合、電波を用いて遠隔で飛翔体２に指令を出して誘導する指令誘導装置が用いられる。
この中間誘導装置１２により、予め設定された飛翔経路と実際の飛翔経路とのズレを随時計算して、飛翔体２が予定の飛翔経路を飛翔するように飛翔体２を制御する。このように、目標近辺まで飛翔体２を中間誘導するので、終末誘導の開始時の誤差バスケットを小さくすることができる。 The intermediate guidance device 12 guides the flying object 2 to the vicinity of the target (for example, from the target 1 to several km) along a preset route. For example, the global guidance device (GPS), the inertial guidance device (INS) ), A terrain matching device (TERCOM), or the like. In the present embodiment, the intermediate guidance device 12 is mounted on the flying object 2, but may be mounted on the launching side (mother machine, mother ship, etc.). In this case, the flying object 2 is instructed remotely using radio waves. A command guidance device is used for guiding and guiding.
The intermediate guidance device 12 calculates a deviation between the preset flight path and the actual flight path as needed, and controls the flying object 2 so that the flying object 2 flies along the scheduled flight path. In this way, since the flying object 2 is intermediately guided to the vicinity of the target, the error basket at the start of terminal guidance can be reduced.

終末誘導装置１４は、飛翔体２に搭載されており、飛翔体２が目標近辺まで到達したときに中間誘導装置１２による誘導に引き続いて飛翔体２を目標１に着弾するように誘導するものである。終末誘導装置１４は、例えば、撮像センサで撮像した画像から目標１を識別し追跡する映像認識誘導装置、目標１から発生する赤外線を探知し追跡する赤外線誘導装置、レーダによって目標１を探索・識別し目標１からの反射波の方向へ飛翔体２を誘導するアクティブレーダ誘導装置、もしくは地上・空中の第３者によるレーザ照射器を用いたレーザ誘導装置等を用いることができる。   The terminal guidance device 14 is mounted on the flying object 2 and guides the flying object 2 to land on the target 1 following the guidance by the intermediate guidance device 12 when the flying object 2 reaches the vicinity of the target. is there. The terminal guidance device 14 searches and identifies the target 1 by, for example, a video recognition guidance device that identifies and tracks the target 1 from the image captured by the imaging sensor, an infrared guidance device that detects and tracks infrared rays generated from the target 1, and a radar. However, an active radar guidance device that guides the flying object 2 in the direction of the reflected wave from the target 1, or a laser guidance device using a laser irradiator by a third party on the ground or in the air can be used.

終末誘導装置１４は、センサ部１６と、固定機構２２と、制御部２６とを有する。
センサ部１６は、終末誘導装置１４において、目標１を捕捉する目として機能する部分であり、本実施形態では、センサ部１６の視野方向からの光を集光するレンズ１７と、特定の波長の光のみを通過させる光学バンドパスフィルタ１８と、画像を撮影する撮像センサ（例えばＣＣＤセンサ）１９と、レンズ１７、光学バンドフィルタ１８及び撮像センサ１９を適切な位置に配置した状態に保持しつつ囲むケーシング２０と、を有している。 The terminal guidance device 14 includes a sensor unit 16, a fixing mechanism 22, and a control unit 26.
The sensor unit 16 is a part that functions as an eye for capturing the target 1 in the terminal guidance device 14. In this embodiment, the sensor unit 16 collects light from the visual field direction of the sensor unit 16, and has a specific wavelength. An optical bandpass filter 18 that allows only light to pass through, an image sensor (for example, a CCD sensor) 19 that captures an image, and a lens 17, the optical band filter 18, and the image sensor 19 are held while being held in appropriate positions. And a casing 20.

固定機構２２は、飛翔体２の機体３に対するセンサ部１６の姿勢を調整できるように、センサ部１６を飛翔体２の機体３に固定するものである。本実施形態において固定機構２２は、センサ部１６を支持台４に回動可能に連結する回動連結部材２３と、センサ部１６の回動範囲内でセンサ部１６を所望の位置に調節し固定する角度調整ネジ２４とからなる。回動連結部材２３の回動中心は、図１で紙面に垂直な軸心Ｘである。なお、「機体３に固定する」とは、機体３に直接固定する場合のみならず、本実施形態のように支持台４を介して間接的に機体３に固定することも含む。   The fixing mechanism 22 fixes the sensor unit 16 to the aircraft 3 of the flying body 2 so that the attitude of the sensor unit 16 with respect to the aircraft 3 of the flying body 2 can be adjusted. In the present embodiment, the fixing mechanism 22 adjusts and fixes the sensor unit 16 to a desired position within a rotation range of the sensor unit 16 and a rotation connecting member 23 that rotatably connects the sensor unit 16 to the support base 4. And an angle adjusting screw 24. The rotation center of the rotation connecting member 23 is an axis X perpendicular to the paper surface in FIG. The phrase “fixed to the airframe 3” includes not only fixing directly to the airframe 3 but also indirectly fixing to the airframe 3 via the support base 4 as in the present embodiment.

上述のように構成された固定機構２２により、飛翔体２の機体３に対するセンサ部１６の姿勢を調整でき、かつ、その姿勢のまま保持できる。すなわち、センサ部１６の中心軸Ｗを機軸Ｚに対して所定角度オフセットさせた姿勢に調整し、このオフセット角θを保持した状態で、センサ部１６を飛翔体２の機体３に堅固に固定することができる。したがって、大きな衝撃が作用する飛翔体発射時においても、センサ部１６を支持し、所望のオフセット角θを保持することができる。   With the fixing mechanism 22 configured as described above, the attitude of the sensor unit 16 with respect to the airframe 3 of the flying object 2 can be adjusted, and the attitude can be maintained. That is, the center axis W of the sensor unit 16 is adjusted to a posture that is offset by a predetermined angle with respect to the machine axis Z, and the sensor unit 16 is firmly fixed to the vehicle body 3 of the flying object 2 while maintaining the offset angle θ. be able to. Accordingly, the sensor unit 16 can be supported and the desired offset angle θ can be maintained even when the flying object is subjected to a large impact.

センサ部１６の姿勢の調整及び固定は、飛翔体２の発射前に行なう。具体的には、飛翔体２の発射前に、中間誘導によって飛翔体２が目標近辺に到達したときにセンサ部１６の視野範囲に目標１が入るように飛翔体２の機体３に対するセンサ部１６の姿勢を調整して固定する。中間誘導によって飛翔体２が目標近辺に到達したときの、飛翔体２と目標１との空間的位置関係、飛翔体２の空間内の姿勢とそのばらつきは、飛翔体２の発射前に予測することができるので、この予測に基づいて、与えるべきオフセット角θを割り出すことができる。   Adjustment and fixing of the posture of the sensor unit 16 is performed before the flying object 2 is launched. Specifically, before launching the flying object 2, the sensor unit 16 with respect to the airframe 3 of the flying object 2 is set so that the target 1 enters the field of view of the sensor unit 16 when the flying object 2 reaches the vicinity of the target by intermediate guidance. Adjust and fix the posture. The spatial positional relationship between the flying object 2 and the target 1, the attitude in the space of the flying object 2 and its variation when the flying object 2 reaches the vicinity of the target by the intermediate guidance are predicted before the flying object 2 is launched. Therefore, based on this prediction, the offset angle θ to be given can be determined.

図１に示した固定機構２２は、一例に過ぎず、飛翔体２の機体３に対するセンサ部１６の姿勢を調整できるようにセンサ部１６を飛翔体２の機体３に固定できる範囲で、他の種々の形態を採用することができる。   The fixing mechanism 22 shown in FIG. 1 is merely an example, and the sensor unit 16 can be fixed to the airframe 3 of the flying object 2 so that the attitude of the sensor unit 16 with respect to the airframe 3 of the flying object 2 can be adjusted. Various forms can be adopted.

制御部は、センサ部１６からの情報に基づいて、飛翔体２を目標１に着弾するように制御する。符号Ｓはセンサ部１６からの検出信号である。   Based on information from the sensor unit 16, the control unit controls the flying object 2 to land on the target 1. Reference symbol S is a detection signal from the sensor unit 16.

なお、図１において、符号５は飛翔体２の前部においてセンサ部１６を囲むカウリング、符号６は、光を透過させる光学ドームである。   In FIG. 1, reference numeral 5 denotes a cowling that surrounds the sensor unit 16 at the front of the flying object 2, and reference numeral 6 denotes an optical dome that transmits light.

上述した構成の飛翔体の誘導システム１０によって、本発明の飛翔体２の誘導方法を実施することができる。すなわち、本発明の飛翔体の誘導方法では、予め設定された経路に沿って目標近辺まで飛翔体２を誘導する中間誘導を行い、飛翔体２が目標近辺まで到達したときに中間誘導に引き続いて飛翔体２に搭載したセンサ部１６により目標１を捕捉して飛翔体２を目標１に着弾するように誘導する終末誘導を行なう。この場合おいて、飛翔体２の機体３に対するセンサ部１６の姿勢を調整できるようにセンサ部１６を飛翔体２の機体３に固定可能な構成としておき、飛翔体２の発射前に、中間誘導によって飛翔体２が目標近辺に到達したときにセンサ部１６の視野範囲に目標１が入るように飛翔体２の機体３に対するセンサ部１６の姿勢を調整して（オフセット角θを与えて）固定する。   The flying object guidance system 10 of the present invention can be implemented by the flying object guidance system 10 having the above-described configuration. That is, in the flying object guidance method of the present invention, intermediate guidance is performed to guide the flying object 2 to the vicinity of the target along a preset route, and when the flying object 2 reaches the vicinity of the target, the intermediate guidance is followed. Terminal guidance is performed in which the sensor unit 16 mounted on the flying object 2 captures the target 1 and guides the flying object 2 to land on the target 1. In this case, the sensor unit 16 is fixed to the airframe 3 of the flying object 2 so that the attitude of the sensor unit 16 with respect to the airframe 3 of the flying object 2 can be adjusted. By adjusting the attitude of the sensor unit 16 with respect to the airframe 3 of the flying object 2 (giving an offset angle θ) and fixed so that the target 1 enters the field of view of the sensor unit 16 when the flying object 2 reaches the vicinity of the target. To do.

以下、本発明の実施形態にかかる飛翔体の誘導方法及び誘導システム１０の作用・効果について説明する。
本発明によれば、目標近辺まで飛翔体２を中間誘導するので、終末誘導の開始時の誤差バスケットを小さくすることができる。また、飛翔体２の機体３に対するセンサ部１６の姿勢を調整できるようにセンサ部１６を飛翔体２の機体３に固定可能な構成としておき、飛翔体２の発射前に、中間誘導によって飛翔体２が目標近辺に到達したときにセンサ部１６の視野範囲に目標１が入るように飛翔体２の機体３に対するセンサ部１６の姿勢を調整して固定するので、中間誘導の終了後に実行する終末誘導において、センサ部１６によって目標１を捕捉し、追尾し、飛翔体２を目標１まで誘導することができる。 Hereinafter, the flying object guiding method and the operation / effect of the guiding system 10 according to the embodiment of the present invention will be described.
According to the present invention, since the flying object 2 is intermediately guided to the vicinity of the target, the error basket at the start of terminal guidance can be reduced. In addition, the sensor unit 16 is configured to be fixed to the airframe 3 of the flying object 2 so that the attitude of the sensor unit 16 with respect to the airframe 3 of the flying object 2 can be adjusted. Since the attitude of the sensor unit 16 with respect to the airframe 3 of the flying object 2 is adjusted and fixed so that the target 1 falls within the field of view of the sensor unit 16 when the 2 reaches the vicinity of the target, the end to be executed after the end of the intermediate guidance In the guidance, the target 1 can be captured and tracked by the sensor unit 16, and the flying object 2 can be guided to the target 1.

本発明によれば、センサ部１６を飛翔体２の機体３に固定する構造としたことによって、ジンバル機構を不要としたので、センサ部１６の設置構造の簡素化、小型化、低価格化を実現できる。また、上述したジンバル機構では、発射時の衝撃によって軸受が損傷した場合、終末誘導を行なえないという事態が生じるが、本発明では、発射から着弾までセンサ部１６の姿勢を一定に保持するので、ジンバル機構のような問題は生じ得ないため、信頼性が格段に向上する。   According to the present invention, since the sensor unit 16 is fixed to the airframe 3 of the flying object 2, the gimbal mechanism is not required, so that the installation structure of the sensor unit 16 can be simplified, downsized, and reduced in price. realizable. Further, in the above-described gimbal mechanism, when the bearing is damaged due to the impact at the time of launch, there is a situation in which the terminal guidance cannot be performed, but in the present invention, since the posture of the sensor unit 16 is kept constant from launch to landing, Since a problem like a gimbal mechanism cannot occur, the reliability is remarkably improved.

したがって、本発明によれば、センサ部の設置構造の簡素化、小型化および低価格化を実現することができるとともに、終末誘導の実行の確実性及び信頼性を向上できる、という優れた効果が得られる。   Therefore, according to the present invention, it is possible to realize the simplification, downsizing, and cost reduction of the installation structure of the sensor unit, and it is possible to improve the reliability and reliability of execution of terminal guidance. can get.

なお、上記において、本発明の実施形態について説明を行ったが、上記に開示された本発明の実施の形態は、あくまで例示であって、本発明の範囲はこれら発明の実施の形態に限定されない。本発明の範囲は、特許請求の範囲の記載によって示され、さらに特許請求の範囲の記載と均等の意味および範囲内でのすべての変更を含むものである。   Although the embodiments of the present invention have been described above, the embodiments of the present invention disclosed above are merely examples, and the scope of the present invention is not limited to these embodiments. . The scope of the present invention is indicated by the description of the scope of claims, and further includes meanings equivalent to the description of the scope of claims and all modifications within the scope.

本発明の実施形態にかかる飛翔体の誘導方法及び誘導システムを説明する図である。It is a figure explaining the guidance method and guidance system of a flying body concerning the embodiment of the present invention. 本発明の実施形態にかかる飛翔体の誘導方法及び誘導システムを説明する図である。It is a figure explaining the guidance method and guidance system of a flying body concerning the embodiment of the present invention. 従来の飛翔体の誘導方法を説明する図である。It is a figure explaining the guidance method of the conventional flying object. 従来の飛翔体の誘導方法を説明する図である。It is a figure explaining the guidance method of the conventional flying object.

符号の説明Explanation of symbols

１ 目標
２ 飛翔体
３ 機体
１０ 飛翔体の誘導システム
１２ 中間誘導装置
１４ 終末誘導装置
１６ センサ部
２２ 固定機構
２６ 制御部 DESCRIPTION OF SYMBOLS 1 Target 2 Flying object 3 Airframe 10 Flying object guidance system 12 Intermediate guidance device 14 Terminal guidance device 16 Sensor part 22 Fixing mechanism 26 Control part

Claims (2)

予め設定された経路に沿って目標近辺まで飛翔体を誘導する中間誘導を行い、前記飛翔体が目標近辺まで到達したときに前記中間誘導に引き続いて前記飛翔体に搭載したセンサ部により目標を捕捉して前記飛翔体を目標に着弾するように誘導する終末誘導を行なう飛翔体の誘導方法であって、
前記飛翔体の機体に対する前記センサ部の姿勢を調整できるように前記センサ部を前記飛翔体の機体に固定可能な構成としておき、
前記飛翔体の発射前に、前記中間誘導によって前記飛翔体が前記目標近辺に到達したときに前記センサ部の視野範囲に前記目標が入るように前記飛翔体の機体に対する前記センサ部の姿勢を調整して固定する、ことを特徴とする飛翔体の誘導方法。 Perform intermediate guidance to guide the flying object to the vicinity of the target along a preset route, and capture the target by the sensor unit mounted on the flying object following the intermediate guidance when the flying object reaches the vicinity of the target A flying object guiding method for performing terminal guidance for guiding the flying object to land on a target,
The sensor unit is fixed to the flying body so that the attitude of the sensor unit with respect to the flying body can be adjusted.
Prior to launching the flying object, the attitude of the sensor unit relative to the airframe of the flying object is adjusted so that the target enters the visual field range of the sensor unit when the flying object reaches the vicinity of the target by the intermediate guidance. And then fixing the flying object. 予め設定された経路に沿って目標近辺まで飛翔体を誘導する中間誘導装置と、前記飛翔体に搭載され当該飛翔体が目標近辺まで到達したときに前記中間誘導装置による誘導に引き続いて飛翔体を目標に着弾するように誘導する終末誘導装置と、を備えた飛翔体の誘導システムであって、
前記終末誘導装置は、前記目標を捕捉するセンサ部と、前記飛翔体の機体に対する前記センサ部の姿勢を調整できるように前記センサ部を前記飛翔体の機体に固定する固定機構と、前記センサ部からの情報に基づいて前記飛翔体を制御する制御部とを有し、
前記センサ部は、前記中間誘導装置によって前記飛翔体が前記目標近辺に到達したときに当該センサ部の視野範囲に前記目標が入るように、前記飛翔体の発射前に姿勢が調整されて前記飛翔体の機体に固定される、ことを特徴とする飛翔体の誘導システム。 An intermediate guidance device that guides the flying object to the vicinity of the target along a preset route, and when the flying object reaches the vicinity of the target, the flying object is guided following the guidance by the intermediate guidance device. A flying object guidance system comprising: an end guidance device for guiding the target to land on a target;
The terminal guidance device includes a sensor unit that captures the target, a fixing mechanism that fixes the sensor unit to the aircraft body so that the attitude of the sensor unit with respect to the aircraft body can be adjusted, and the sensor unit A control unit for controlling the flying object based on information from
The attitude of the sensor unit is adjusted before launching the flying object so that the target enters the visual field range of the sensor unit when the flying object reaches the vicinity of the target by the intermediate guidance device. A flying object guidance system characterized by being fixed to a body of the body.
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