JP5279523B2 - Posture calculation device, guidance device, posture calculation method of posture calculation device, and posture calculation program of posture calculation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an attitude calculation device which performs calculations so that the slope of the ground around a target can be detected accurately to reach the target set on the slope accurately with an attitude angle estimated in advance. <P>SOLUTION: A target coordinates acquisition unit 121 obtains target coordinates 20, or the two-dimensional position coordinates of the target. A DEM database 122 stores three-dimensional position coordinates including the elevation information of a plurality of points within a predetermined area. A slope calculation unit 123 obtains a plurality of three-dimensional position coordinates in the vicinity of the target coordinates obtained by the target coordinates acquisition unit 121 as target neighboring DEM data 21 out of the three-dimensional coordinates stored in the DEM database 122. The slope calculation unit 123 calculates a slope angle 22 at an area around the target by a processor on the basis of a plurality of pieces of target neighboring DEM data 21. An attitude angle calculation unit 124 calculates an attitude angle 23 of a flying object for controlling the attitude of the flying object with respect to the target on the basis of the slope angle 22 calculated by the slope calculation unit 123. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to, for example, a posture calculation device that calculates a posture when a flying object reaches the ground, a guidance device including the posture calculation device, a posture calculation method for the posture calculation device, and a posture calculation program for the posture calculation device. .

  In the prior art, for a plurality of target groups deployed in a certain area, the warhead is ruptured just before landing on the ground surface where the target is present, and the warhead fragments are scattered laterally or obliquely forward, thereby causing a constant There is a flying object that can attack a plurality of target groups deployed in an area at once. In this technology, the angle between the flying object and the ground surface (horizontal plane) (impact angle) is controlled to be close to a right angle by the attitude angle controller mounted on the flying object, and the fragments are placed over a wide area. Can be scattered. Thereby, a plurality of targets can be attacked over a wide range, and the effectiveness of the flying object attack can be enhanced.

  There is a technique for improving the guidance performance of a flying object for a plurality of targets (Patent Document 1).

  In addition, there is a technique for improving the guidance performance of a flying object with respect to a sea skimmer target by a method of limiting the path angle of the flying object (Patent Document 2).

JP 2000-065925 A Japanese Patent Laid-Open No. 11-271000

  In the prior art, a method of performing attack control over a wide range by guiding and controlling the landing angle of the flying object to an angle close to a right angle with respect to the horizontal plane is used. At this time, since the attitude of the flying object is controlled on the assumption that the ground surface is horizontal, when the target is deployed on a slope, the conventional guidance control depends on the inclination angle of the ground surface. The impact angle is not perpendicular to the ground surface, and as a result, the ruptured fragment is blocked by the slope, and the scattered area is reduced without scattering to the expected range, and a target deviated from the attack range can be created. This may reduce the power of the warhead.

  In addition, it is possible to easily devise a means for detecting the relative inclination with respect to the ground surface by measuring the distance to the ground surface by arranging a plurality of laser distance sensors obliquely forward of the flying object. In consideration of the time required for this, it is necessary to mount a plurality of high-power laser distance sensors, and there is a problem that it is difficult to accurately detect the inclination when a ground structure or the like is detected. .

  The present invention has been made to solve the above-described problems, and can accurately detect the inclination of the ground around the target, and is also assumed for a target set on a slope. It is an object of the present invention to provide a guidance device that guides the robot so that it can be reliably landed. In addition, in order to provide the above guidance device, it is possible to accurately calculate the inclination of the area around the target, and to calculate the posture of the object assumed in advance with respect to the target set on the slope. An object is to provide an apparatus.

The posture calculation apparatus in the present invention is
In an attitude calculation device that calculates the attitude of an object with respect to a target,
A target coordinate input unit for inputting target coordinates which are at least two-dimensional position coordinates of the target;
A position elevation information storage unit for storing, in a storage device, three-dimensional position coordinates including elevation information of a plurality of points in a predetermined area;
A specification in which a processing device acquires a plurality of three-dimensional position coordinates near the target coordinates input by the target coordinate input unit as specific position coordinates from the three-dimensional position coordinates stored in the position elevation information storage unit. A position coordinate acquisition unit;
An inclination calculation unit that calculates an inclination of a region around the target by a processing device based on the specific position coordinates acquired by the specific position coordinate acquisition unit;
And a posture calculating unit that calculates a posture of the object with respect to the target by a processing device based on a tilt of a region around the target calculated by the tilt calculating unit.

  An attitude calculation apparatus according to the present invention is an attitude calculation apparatus that calculates an attitude of an object with respect to a target, wherein a target coordinate input unit inputs target coordinates that are at least two-dimensional position coordinates of the target, and a position altitude information storage unit Stores the three-dimensional position coordinates including the elevation information of a plurality of points in a predetermined area in the storage device, and the specific position coordinate acquisition unit from among the three-dimensional position coordinates stored by the position elevation information storage unit, A plurality of three-dimensional position coordinates in the vicinity of the target coordinates input by the target coordinate input unit are acquired as specific position coordinates by a processing device, and an inclination calculation unit is added to the specific position coordinates acquired by the specific position coordinate acquisition unit. Based on the inclination of the area around the target is calculated by the processing device, the posture calculation unit based on the inclination of the area around the target calculated by the inclination calculation unit, Since the orientation of the object relative to the target is calculated by the processing device, the inclination of the area around the target can be accurately calculated, and the attitude of the object assumed in advance is accurately calculated with respect to the target set on the slope. It is possible to provide a posture calculation device capable of performing

It is a figure which shows the relationship between the flying body 4 and the target 1 (target group) developed on the ground surface (substantially horizontal plane) 2. It is a figure which shows the relationship between the flying body 4 and the target 1 (target group) developed on the ground surface (slope 8). 2 is a functional block configuration diagram of a flying object guiding apparatus 100 according to Embodiment 1. FIG. 3 is a model diagram illustrating an example of an information configuration of a DEM database 122 according to Embodiment 1. FIG. 3 is a diagram illustrating an example of hardware resources of the posture calculation device 120 (or the guidance device 12 including the posture calculation device 120) according to Embodiment 1. FIG. 3 is a flowchart illustrating a posture calculation method of posture calculation device 120 in the first embodiment. FIG. 5 is an enlarged model diagram of a part surrounded by a solid circle A in the model diagram of the information structure of the DEM database 122 of FIG. 4. It is a figure which shows the relationship between the inclination of the target periphery DEM data 21 and the target coordinate 20 (target vicinity area | region). It is a figure which shows the relationship between the flying body 4 orthogonal to the slope 8, and the target 1 (target group) developed on the ground surface (slope 8).

Embodiment 1 FIG.
In the first embodiment, for example, a flying object guidance device mounted on a flying object or the like intended to attack over a wide area by rupturing the warhead immediately before landing on the ground and scattering the warhead fragments over a wide area will be described. To do.

  FIG. 1 is a diagram illustrating an example of a relationship between a flying object 4 and a target 1 (target group) developed on the ground surface (substantially horizontal plane) 2. FIG. 2 is a diagram showing another example of the relationship between the flying object 4 and the target 1 (target group) developed on the inclined ground surface (slope 8).

  As shown in FIG. 1, for a plurality of targets 1 developed in a certain region, the warhead 3 is ruptured immediately before landing on the ground surface (substantially horizontal plane) 2 where the target 1 exists, and the warhead fragments are laterally or obliquely There is a flying object 4 that can attack a plurality of targets 1 deployed in a certain area at a time by scattering in the forward direction. At this time, the attitude angle controller or the like that controls the attitude angle of the flying object 4 mounted on the flying object 4 makes the angle (impact angle 5) formed by the flying object 4 and the ground surface (substantially horizontal plane) 2 close to a right angle. By controlling and landing in the state, fragments can be scattered over a wider range, a plurality of targets 1 can be attacked over a wider range, and the effectiveness of the attack of the flying object 4 can be enhanced.

  As shown in FIG. 2, when the ground surface is a slope 8 that is inclined with respect to the horizontal plane, it is assumed that the flying object 4 has reached (landed) the slope 8 from a direction substantially perpendicular to the horizontal plane. However, it does not reach (land) the slope 8 from a substantially perpendicular direction. That is, even if the flying object 4 is guided and controlled from a direction substantially perpendicular to the horizontal plane, the attitude of the flying object 4 is controlled under the assumption that the ground surface is horizontal, and therefore the target 1 is the slope 8. In this case, the guidance angle does not make the landing angle perpendicular to the ground surface due to the inclination angle of the ground surface, and as a result, the ruptured fragments are blocked by the ground surface, and the assumed range. Without being scattered, the fragment scattering range 6 is reduced, the target 7 deviating from the attack range is created, and the power of the warhead is reduced.

  As described above, in the case of the flying object 4 that bursts the warhead immediately before landing on the ground and effectively scatters the warhead fragments against the target with respect to the plurality of targets 1 that are developed in a certain region, the landing is made. The effect on the target 1 varies depending on the attitude of the flying object 4 immediately before (ie, when the warhead fragments are scattered). That is, the optimal posture (effective posture) of the flying object 4 varies depending on the inclination of the ground surface where the target 1 (target group) is developed.

  The flying object guidance device according to the present embodiment, the guidance device provided in the flying object guidance device, and the attitude calculation device provided in the guidance device accurately detect the inclination of the ground surface reached by the flying object 4 and reach the flying object 4. This is a device for deriving the optimum posture for guiding the flying object 4. In the present embodiment, a flying object guidance device for guiding the flying object 4 so as to reach the ground surface from a substantially vertical direction regardless of the inclined surface of the landing surface will be described. Further, the flying object 4 arrives from the vertical direction with respect to the ground surface means that the flying object 4 arrives from the vertical direction immediately before the flying object 4 arrives (hereinafter referred to as “attitude perpendicular to the ground surface”). It is necessary to be a posture angle to become. Therefore, the flying object guiding apparatus derives a posture angle at which the flying object 4 assumes a vertical posture with respect to the ground surface immediately before the flying object 4 reaches the ground surface.

  The flying object 4 is an example of an object. In the present embodiment, the flying object 4 will be described as an example of the object, but the object is not limited to the flying object. For example, the object may be an antenna of an artificial satellite or a camera installed on the ground (above the ground surface). Further, the object may not be flying and may be a stationary object. In other words, the object only needs to be able to calculate what kind of posture (attitude angle) the object (the axis of the object) is with respect to the ground surface. The posture calculation device in the present embodiment is a device that can calculate the posture angle so that the object (the axis of the object) has a predetermined posture (posture angle) with respect to the ground surface.

  In the present embodiment, the flying object (object) is in the vertical direction with respect to the ground surface (at the time when the flying object arrives from the vertical direction with respect to the ground surface) as the optimal posture to be calculated. However, the posture angle can be calculated as an optimum posture in any posture. Here, the attitude angle of the flying object 4 means, for example, the relative angle of the axis of the flying object 4 (object) with respect to the direction of gravity or an arbitrary coordinate system of the flying object 4, and the pitch angle θ (the longitudinal axis) Rotation angle) and a yaw angle ψ (left-right axis rotation angle).

  FIG. 3 is a functional block configuration diagram of the flying object guiding apparatus 100 according to the first embodiment. A flying object guidance apparatus 100 for guiding the flying object 4 to an optimum posture will be described with reference to FIG.

  The flying object guidance device 100 includes a seeker 10, a target command receiving unit 11, a guidance device 12, a control device 14, and a steering device 15.

  The seeker 10 searches and tracks the target 1, detects the visual line angle, the visual line angle time change rate, and the relative distance information that are relative to the target 1, and outputs the position coordinates of the target from the detected information. Alternatively, the visual line angle of the target 1, the visual line angle change rate, the relative distance information, and the like are detected, and the detected information is output as target angle measurement information (target angle measurement information).

  The target command receiving unit 11 receives and outputs target command information from the ground control station or the mother aircraft that launches the flying object 4.

  The guidance device 12 inputs the target position coordinates or target angle measurement information from the seeker 10 or the target command information from the target command receiving unit 11, calculates the optimum posture angle 23 of the flying object 4, and performs the posture angle command. Output as value 24. The guidance device 12 includes an attitude calculation device 120 and a command output unit 13. The posture calculation device 120 may include a command output unit 13. In that case, the posture calculation device 120 becomes the guidance device 12.

  The posture calculation device 120 includes a target coordinate acquisition unit 121 (target coordinate input unit), a DEM database 122 (DEM: Digital Elevation Model) (position elevation information storage unit), an inclination calculation unit 123 (a specific position coordinate acquisition unit, an inclination calculation unit). ), An attitude angle calculation unit 124 (attitude calculation unit).

  When the target coordinate acquisition unit 121 inputs the target angle measurement information from the seeker 10, for example, as a guidance signal obtained by removing the noise component from the target angle measurement information by a Kalman filter or the like, the target angle acquisition unit 121 is relative to the visual line angle, the visual line change rate, and the target. Output the distance. Then, the target coordinates 20 that are target position coordinates are calculated from the output guidance signals (the visual line angle, the visual line change rate, and the relative distance from the target). Alternatively, the seeker 10 may obtain the target coordinates 20 from the guidance signal from which noise has been removed. In this case, the target coordinate acquisition unit 121 inputs the target coordinates 20 from the seeker 10.

  Alternatively, when the target command information is input from the target command receiving unit 11, the target coordinate acquisition unit 121 obtains target coordinates 20 that are target position coordinates given from the mother machine or the like from the input target command information. The target coordinate acquisition unit 121 acquires and outputs the target coordinates 20. Here, the target coordinates 20 are at least two-dimensional position coordinates, and may be three-dimensional position coordinates. In the present embodiment, it is assumed that the target coordinates 20 are two-dimensional for ease of explanation.

  The DEM database 122 is a database relating to the altitude of the ground surface (substantially horizontal plane) 2 and is a database of altitude above sea level for grid points at intervals of 50 m measured by surveying. The DEM database 122 is open to the public and can be used. By using this DEM database 122, except for regions where altitude changes greatly between short distances such as mountainous areas, the inclination angle 22 of the ground surface of the region where the attack target is deployed can be calculated. In this embodiment, although the DEM database 122 is used, three-dimensional position coordinate information (three-dimensional position coordinates) including position information of a plurality of points in a predetermined area and corresponding elevation information is used. As long as the position elevation information storage unit stores in the storage device, the DEM database 122 may not be used.

  FIG. 4 is a model diagram illustrating an example of an information configuration of the DEM database 122 according to the first embodiment. As shown in FIG. 4, the DEM database 122 includes a one-dimensional array X [j] (j = 1, 2,..., N) in which the east position of each grid point is stored in ascending order, and the north direction position in ascending order. 1-dimensional array Y [k] (k = 1, 2,..., M) and elevation Z [j, k] (j = 1) at position coordinates (X [j], Y [k]) , 2, ..., n; k = 1, 2, ..., m), and a two-dimensional array Z [j, k].

  As the information structure of the DEM database 122, for example, other expression methods such as a three-dimensional array having each coordinate value as an element can be considered. X [j], north direction position array Y [k], and elevation direction two-dimensional array elevation Z [j, k] are used. That is, the DEM database 122 has a three-dimensional (X [j], Y [k], Z [j, k]) of a one-dimensional array X in the east direction, a one-dimensional array Y in the north direction, and a two-dimensional array Z in the elevation direction. ) Is memorized. In the following description, the three-dimensional information stored in the DEM database 122 is referred to as three-dimensional position coordinate information (three-dimensional position coordinates).

  The three-dimensional position coordinate information is composed of a combination of two pieces of information: a two-dimensional position coordinate (X [j], Y [k]) representing a position and an altitude Z [j, k] corresponding to the position coordinate. It may be represented by three-dimensional coordinates (X [i], Y [k], Z [j, k]) including the altitude. Further, the value of the target coordinate 20 is indicated as the target coordinate 20 (coordinate (Xt, Yt)) as a value (information) on the coordinate indicated by the DEM database 122.

  The inclination calculation unit 123 inputs the target coordinates 20 ((coordinates (Xt, Yt)), which is two-dimensional information, from the target coordinate acquisition unit 121, and based on the input target coordinates 20, a plurality of surroundings of the target are obtained from the DEM database 122. The inclination calculation unit 123 obtains a plurality of three-dimensional positions near the target coordinate 20 acquired by the target coordinate acquisition unit 121 from the three-dimensional position coordinate information stored in the DEM database 122. The position coordinate information is acquired by the processing apparatus as specific position coordinates (target peripheral DEM data 21), and the inclination (tilt angle 22) of the area around the target is calculated by the processing apparatus based on the acquired specific position coordinates. Details of the method of acquiring the target peripheral DEM data 21 and the tilt angle 22 in the tilt calculation unit 123 will be described later.

  The posture angle calculation unit 124 inputs the inclination (inclination angle 22) of the area around (near) the target calculated by the inclination calculation unit 123. The attitude angle calculation unit 124 calculates the optimum attitude (attitude angle 23) of the flying object 4 with respect to the target 1 (region in the vicinity of the target 1) based on the input inclination angle 22 by the processing device. The posture angle calculation unit 124 outputs the calculated posture angle 23.

  The command output unit 13 inputs the posture angle 23 from the posture calculation device 120 and outputs the posture angle command value 24 to the control device 14 that performs rotation control, posture control, and the like of the flying object 4.

  The control device 14 inputs the posture angle command value 24, controls the posture angle of the flying object 4 (airframe) using the steering device 15 based on the given posture angle command value 24, and controls the ground surface (substantially). The flying object 4 is orthogonal to the horizontal plane 2 or the inclined ground surface (slope 8). Alternatively, the control device 14 inputs the posture angle command value 24 and uses the steering device 15 to set the input posture angle command value 24 to the ground surface (substantially horizontal plane) 2 or the inclined ground surface (slope 8). The flying object 4 is made to reach in the posture (posture angle) specified in the above.

FIG. 5 is a diagram illustrating an example of hardware resources of the posture calculation device 120 (or the guidance device 12 including the posture calculation device 120) according to the first embodiment.
5, the guidance device 12 / attitude calculation device 120 includes a CPU 911 (also referred to as a central processing unit, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a processor) that executes a program. . The CPU 911 is connected to the ROM 913, the RAM 914, the communication board 915, and the magnetic disk device 920 via the bus 912, and controls these hardware devices. Instead of the magnetic disk device 920, another storage device (for example, a semiconductor memory such as a RAM or a flash memory) may be used.
The RAM 914 is an example of a volatile memory. The storage medium of the ROM 913 and the magnetic disk device 920 is an example of a nonvolatile memory. These are examples of a storage device, a storage device, or a storage unit. A storage device in which input data is stored is an example of an input device, an input device, or an input unit, and a storage device in which output data is stored is an example of an output device, an output device, or an output unit.
The communication board 915 is an example of an input / output device, an input / output device, or an input / output unit.

  The communication board 915 is wired or wirelessly connected to a communication network such as a LAN (Local Area Network), the Internet, a WAN (Wide Area Network) such as ISDN, and a telephone line.

  The magnetic disk device 920 stores an OS 921 (operating system), a program group 923, and a file group 924. The programs in the program group 923 are executed by the CPU 911 and the OS 921.

  The program group 923 stores a program for executing a function described as “˜unit” in the embodiment. The program is read and executed by the CPU 911.

  In the file group 924, in the embodiment, result data such as “determination result”, “calculation result of”, “processing result of” when executing the function of “to part”, “to part” The data to be passed between programs that execute the function “,” other information, data, signal values, variable values, and parameters are stored as items “˜file” and “˜database”.

The “˜file” and “˜database” are stored in a recording medium such as a disk or a memory. Information, data, signal values, variable values, and parameters stored in a storage medium such as a disk or memory are read out to the main memory or cache memory by the CPU 911 via a read / write circuit, and extracted, searched, referenced, compared, and calculated. Used for CPU operations such as calculation, processing, output, printing, and display. Information, data, signal values, variable values, and parameters are temporarily stored in the main memory, cache memory, and buffer memory during the CPU operations of extraction, search, reference, comparison, operation, calculation, processing, output, printing, and display. Is remembered.
In addition, arrows in the flowcharts described in the embodiments mainly indicate input / output of data and signals, and the data and signal values are recorded in the memory of the RAM 914, the magnetic disk of the magnetic disk device 920, and other recording media. . Data and signal values are transmitted online via a bus 912, signal lines, cables, or other transmission media.

  In addition, what is described as “˜unit” in the embodiment may be “˜circuit”, “˜device”, “˜device”, and “˜step”, “˜procedure”, “˜”. Processing ". That is, what is described as “˜unit” may be realized by firmware stored in the ROM 913. Alternatively, it may be implemented only by software, or only by hardware such as elements, devices, substrates, and wirings, by a combination of software and hardware, or by a combination of firmware. Firmware and software are stored as programs on a magnetic disk or other recording medium. The program is read by the CPU 911 and executed by the CPU 911. That is, the program causes the computer to function as “to part”. Alternatively, the procedure or method of “to part” is executed by a computer.

  FIG. 6 is a flowchart showing a posture calculation method of posture calculation apparatus 120 in the first embodiment. A posture calculation method in which the posture calculation device 120 calculates the optimum posture angle 23 of the flying object 4 in the first embodiment will be described below with reference to FIG. Each unit of the posture calculation device 120 executes processing described below using a processing device (CPU).

<Target coordinate input (acquisition) processing: S110>
The target coordinate acquisition unit 121 inputs target angle measurement information (a visual line angle, a visual line change rate, and a relative distance from the target) from the seeker 10. The target coordinate acquisition unit 121 uses the processing device to remove the noise component from the target angle measurement information using the Kalman filter, and obtains the visual line angle, the visual line change rate, and the relative distance from the target as a guidance signal from which the noise component is removed. Output. And the target coordinate acquisition part 121 calculates and acquires the target coordinate 20 which is a target position coordinate from the output guidance signal (visual line angle, visual line change rate, and relative distance with a target) with a processing apparatus. Further, when the target coordinate 20 is obtained from the guidance signal from which noise has been removed in the seeker 10, the target coordinate acquisition unit 121 inputs and acquires the target coordinate 20 from the seeker 10.

  The target coordinate acquisition unit 121 receives target command information from the target command receiving unit 11. When the target command information is input, the target coordinate acquisition unit 121 acquires the target coordinates 20 that are target position coordinates given from the mother machine or the like based on the target command information by the processing device.

<Inclination calculation processing (specific position coordinate acquisition processing: S111) (inclination angle calculation processing: S112)>
The inclination calculation unit 123 inputs target coordinates 20 (coordinates (Xt, Yt)) that are two-dimensional position coordinates from the target coordinate acquisition unit 121. The inclination calculation unit 123 uses the processing device to acquire the target peripheral DEM data 21 that is a plurality of pieces of three-dimensional position coordinate information around the target coordinates 20 from the DEM database 122 (S111). As will be described later, the inclination calculation unit 123 acquires the position coordinates of three or four vertices surrounding the target coordinates 20 and the altitude information corresponding to the position coordinates as target peripheral DEM data 21 using a processing device. And

  The inclination calculation unit 123 calculates the inclination (inclination angle 22) of the area near the target (target vicinity area) by the processing device based on the acquired three to four target peripheral DEM data 21 (S112).

  That is, the inclination calculation unit 123 is a triangular region 31 to a quadrangular region whose apexes are lattice points in the DEM database 122 including the target coordinates 20 (Xt, Yt) obtained from the seeker 10 or the target command receiving unit 11. 32 is searched. Then, the inclination calculation unit 123 calculates the inclination angle 22 at the target coordinates 20 (Xt, Yt) (target vicinity area) from the altitude information (elevation information) of the vertex coordinates specifying the searched area.

  FIG. 7 is an enlarged model diagram of a portion surrounded by a solid circle A in the model diagram of the information structure of the DEM database 122 of FIG. FIG. 8 is a diagram showing the relationship between the target peripheral DEM data 21 and the inclination of the target vicinity region. 7 and 8, the inclination calculation unit 123 according to the present embodiment obtains the target peripheral DEM data 21 (specific position coordinates) and the inclination (inclination angle 22) of the target vicinity area from the target peripheral DEM data 21. An inclination calculation method to be calculated will be described.

As shown in FIG. 7, four vertex coordinates (X [j-1], Y [k-1]), (X [j-1], Y [k]), (X [j], Y [k] ] When the target coordinates 20 (Xt, Yt) are located within the quadrangular area 32 specified by (X [j], Y [k-1]), the four vertex coordinates (X [J-1], Y [k-1]), (X [j-1], Y [k]), (X [j], Y [k]), (X [j], Y [k- 1]) and the target coordinates 20 (Xt, Yt) have the following relationships (Equation 1) and (Equation 2).
X [j-1] <= Xt <X [j] (Formula 1)
Y [k-1] <= Yt <Y [k] (Formula 2)

  In order to identify the quadrangular region 32 (dotted line region) that includes the target coordinates 20 (Xt, Yt), the inclination calculation unit 123 uses the processing device to calculate the relational expression (Expression 1) and (Expression 2) above. Search (acquire) a set [j, k] of array indexes to satisfy. That is, the inclination calculating unit 123 has four vertex coordinates (X [j−1], Y [k−1]), (X [j−1], Y) that specify the quadrangular region 32 where the target coordinates 20 are located. [K]), (X [j], Y [k]), (X [j], Y [k-1]).

  Furthermore, the inclination calculation unit 123 uses the processing device to calculate the elevation value Z [j−1] of each vertex of the quadrangular region 32 that includes the target coordinates 20 from the set [j, k] of the array indexes searched (acquired). , K−1], Z [j, k−1], Z [j−1, k], Z [j, k]. As a result, the inclination calculation unit 123 performs the three-dimensional position coordinate information (the east direction position one-dimensional array X, the north direction position one-dimensional array Y, and the altitude) of the four vertices that specify the quadrangular region 32 that includes the target coordinates 20. Three-dimensional (X [i], Y [k], Z [j, k]) information with the two-dimensional array Z is acquired as target peripheral DEM data 21 (specific position coordinates).

  Here, the process of specifying the quadrangular region 32 (dotted line region) as the region including the target coordinates 20 by the inclination calculating unit 123 has been described. However, as illustrated in FIG. You may acquire the three-dimensional position coordinate information which specifies 31 (one-dot chain line area | region). When the inclination calculation unit 123 obtains three three-dimensional position coordinate areas from the vertex coordinates of the triangular area 31, it can be obtained by the same method as described above.

  Next, an inclination calculation method for calculating the inclination (inclination angle 22) of the target vicinity region from the target peripheral DEM data 21 will be described with reference to FIG.

  The inclination calculation unit 123 calculates the inclination angle 22 by using the target peripheral DEM data 21 that specifies the quadrangular region 32 including the target coordinates 20 by the processing device. First, the inclination calculation unit 123 calculates inclinations dX1, dX2, dY1, and dY2 of each side of the quadrangular region 32 from the four vertex coordinates of the quadrangular region 32 by the processing device ((Expression 3) to (Expression 6). )).

dX1 = (Z [j, k-1] -Z [j-1, k-1]) / (X [j] -X [j-1]) (Formula 3)
dX2 = (Z [j, k] -Z [j-1, k]) / (X [j] -X [j-1]) (Formula 4)
dY1 = (Z [j-1, k] -Z [j-1, k-1]) / (Y [k] -Y [k-1]) (Formula 5)
dY2 = (Z [j, k] -Z [j, k-1]) / (Y [k] -Y [k-1]) (Formula 6)

  The inclination calculation unit 123 uses the processing device to calculate the target coordinates 20 (target vicinity area) based on the inclinations dX1, dX2, dY1, and dY2 of each side of the quadrangular area 32 and the weighted average of the target coordinates 20 (Xt, Yt). The X direction inclination dX and the Y direction inclination dY are calculated ((Expression 7) (Expression 8)).

dX = (dX2 × (Yt−Y [k−1]) + dX1 × (Y [k] −Yt)) / (Y [k] −Y [k−1]) (Formula 7)
dY = (dY2 × (Xt−X [j−1]) + dY1 × (X [j] −Xt)) / (X [j] −X [j−1]) (Formula 8)

  The inclination calculation unit 123 calculates the inclination angle 22 of the target coordinate 20 (target vicinity area) using the calculated inclination components of the X direction inclination dX and the Y direction inclination dY. The inclination calculation unit 123 calculates the outer product of the obtained X-direction inclination vector (1, 0, dX) and Y-direction inclination vector (0, 1, dY) by the processing apparatus, and uses the X-direction Y-direction inclination vector as a stretch. The normal vector of the surface to be measured (slope normal vector 34) is calculated.

  The inclination calculation unit 123 calculates the remainder angle of the angle formed by the slope normal vector 34 and the horizontal plane by the processing device and outputs the calculated angle as the inclination angle 22. Specifically, for example, the inclination calculation unit 123 calculates the inner product of the slope normal vector 34 and the normal vector of the horizontal plane by the processing device, and the angle formed by the slope normal vector 34 and the normal vector of the horizontal plane. (That is, the remainder angle of the angle formed by the slope normal vector 34 and the horizontal plane). The inclination calculation unit 123 uses the processing device as the inclination angle 22 to determine the angle formed by the obtained slope normal vector 34 and the normal vector of the horizontal plane (that is, the remainder of the angle formed by the slope normal vector 34 and the horizontal plane). Output.

  Here, a method has been described in which the inclination calculation unit 123 obtains the inclination angle 22 using the quadrangular region 32 including the target coordinates 20. The inclination calculation unit 123 may calculate the inclination angle 22 using the triangular region 31 that includes the target coordinates 20.

  For example, the inclination calculation unit 123 obtains the normal vector of the surface of the triangular region 31 by calculating the outer product of the vectors representing the two sides of the triangular region 31 by the processing device. The inclination calculation unit 123 obtains an additional angle of the angle formed by the normal vector of the triangular region 31 and the horizontal plane by the processing device, and determines the additional angle of the angle formed by the normal vector of the triangular region 31 and the horizontal plane as the inclination angle. Calculated as 22. Therefore, in the inclination angle calculation method of the inclination calculation unit 123, the method using the quadrangular region 32 is more effective than the method using the triangular region 31 in the inclination angle 22 of the target coordinate 20 (target vicinity region). Increases accuracy. However, it is considered that the processing speed of the attitude calculation device 120 is faster in the method using the triangular region 31.

<Attitude angle calculation processing: S113>
The attitude angle calculation unit 124 inputs the inclination angle 22 of the target coordinates 20 (target vicinity region), and the attitude of the flying object 4 is orthogonal to the slope 8 with the inclination angle 22 based on the input inclination angle 22. A posture angle 23 to be a posture is calculated by the processing device. For example, as shown in FIG. 8, the posture angle calculation unit 124 may calculate the X-direction component and the Y-direction component of the remainder angle of the inclination angle 22 obtained from the inclination angle 22 as the attitude angle 23 of the flying object 4. The attitude angle calculation unit 124 outputs the attitude angle 23 of the flying object 4 calculated by the processing device.

  Thus, each process of the posture calculation method of the posture calculation device 120 is completed.

  The command output unit 13 receives the posture angle 23 from the posture calculation device 120 by the processing device, and generates a posture angle command value 24 for controlling the posture of the flying object 4 based on the input posture angle 23. The command output unit 13 outputs the generated attitude angle command value 24 to the control device 14 that controls the rotation of the flying object 4.

  The control device 14 receives the attitude angle command value 24, controls the attitude of the flying object 4 to the optimum attitude based on the input attitude angle command value 24, and makes it land on the ground surface. .

  FIG. 9 is a diagram showing an example of the relationship between the flying object 4 orthogonal to the slope 8 and the target 1 (target group) developed on the ground surface (slope 8). As a result, the flying object 4 is controlled to a posture angle at which the flying body 4 reaches a posture in a vertical direction with respect to the inclined surface 8 immediately before reaching (landing) the inclined ground surface (inclined surface 8). Reach (land).

  As described above, according to the flying object guiding apparatus 100 according to the present embodiment, a highly accurate inclination (tilt angle 22) of the ground surface is obtained using the DEM database 122 for the target vicinity area where the flying object 4 is landed. Can be calculated. Then, the attitude angle 23 of the flying object orthogonal to the ground surface can be calculated based on the highly accurate inclination angle 22. Therefore, it is possible to make the impact angle 5 vertical with higher accuracy, and to effectively fit the target in the fragment scattering range 6, and as a result, the effectiveness of the warhead is improved.

  In the posture calculation device 120 of the present embodiment, the target coordinate acquisition unit 121, the inclination calculation unit 123, and the posture angle calculation unit 124 are configured as independent functional blocks, but may be a single functional block. Any combination may be used. The guidance device 12 includes the posture calculation device 120 and the command output unit 13, but the posture calculation device 120 may include the command output unit 13. These functional blocks may be configured in any other combination.

  1 target, 2 ground surface (substantially horizontal plane), 3 warhead, 4 projectile, 5 landing angle, 6 fragment scattering range, 7 target off attack range, 8 slope, 10 seeker, 11 target command receiving unit, 12 guidance Device, 13 Command output unit, 14 Control device, 15 Steering device, 20 Target coordinate, 21 Target peripheral DEM data, 22 Tilt angle, 23 Posture angle, 24 Posture angle command value, 31 Trigonal region, 32 Quadrilateral region, 34 Slope normal vector, 120 attitude calculation device, 121 target coordinate acquisition unit, 122 DEM database, 123 tilt calculation unit, 124 attitude angle calculation unit, 911 CPU, 912 bus, 913 ROM, 914 RAM, 915 communication board, 920 magnetic disk Device, 921 OS, 923 program group, 924 file group.

Claims (8)

In an attitude calculation device that calculates the attitude of an object with respect to a target,
A target coordinate input unit for inputting target coordinates which are at least two-dimensional position coordinates of the target;
A position elevation information storage unit for storing, in a storage device, three-dimensional position coordinates including elevation information of a plurality of points in a predetermined area;
A specification in which a processing device acquires a plurality of three-dimensional position coordinates near the target coordinates input by the target coordinate input unit as specific position coordinates from the three-dimensional position coordinates stored in the position elevation information storage unit. A position coordinate acquisition unit;
An inclination calculation unit that calculates an inclination of a region around the target by a processing device based on the specific position coordinates acquired by the specific position coordinate acquisition unit;
A posture calculation apparatus comprising: a posture calculation unit that calculates a posture of the object with respect to the target based on the inclination of a region around the target calculated by the inclination calculation unit. The posture calculation unit
The posture calculation apparatus according to claim 1, wherein the posture of the flying object as the object relative to the target is calculated as a specific posture when the flying object reaches the target. The posture calculation unit
The posture calculation apparatus according to claim 2, wherein the specific posture is calculated so that the flying object reaches a region around the target from a substantially vertical direction. The specific position coordinate acquisition unit
The posture according to any one of claims 1 to 3, wherein at least three three-dimensional position coordinates that specify an area including the target coordinates are acquired as the specific position coordinates from the three-dimensional position coordinates. Computing device. The specific position coordinate acquisition unit
Obtaining the position specifying coordinates for specifying any of the triangular area having three three-dimensional position coordinates as vertices and the quadrangular area having four three-dimensional position coordinates as vertices; The attitude calculation apparatus according to claim 4. A guidance device that guides a flying object to reach a target in a specific posture,
A target coordinate input unit for inputting target coordinates which are at least two-dimensional position coordinates of the target;
A position elevation information storage unit for storing, in a storage device, three-dimensional position coordinates including elevation information of a plurality of points in a predetermined area;
A specification in which a processing device acquires a plurality of three-dimensional position coordinates near the target coordinates input by the target coordinate input unit as specific position coordinates from the three-dimensional position coordinates stored in the position elevation information storage unit. A position coordinate acquisition unit;
An inclination calculation unit that calculates an inclination of a region around the target by a processing device based on the specific position coordinates acquired by the specific position coordinate acquisition unit;
Based on the inclination of the area around the target calculated by the inclination calculation unit, the specific posture is set by the processing device so that the flying object reaches the area around the target from a substantially vertical direction. An attitude calculation unit for calculating,
And a posture output unit that outputs the specific posture calculated by the posture calculation unit. An attitude calculation apparatus for calculating an attitude of an object with respect to a target, wherein the attitude calculation apparatus includes a position elevation information storage unit that stores three-dimensional position coordinates including elevation information of a plurality of points in a predetermined region. ,
A target coordinate input unit that inputs target coordinates that are at least two-dimensional position coordinates of the target;
A specific position coordinate acquisition unit obtains, from the three-dimensional position coordinates stored in the position altitude information storage unit, a plurality of three-dimensional position coordinates in the vicinity of the target coordinates input by the target coordinate input step. Specific position coordinate acquisition step acquired by the processing device as,
An inclination calculating step in which an inclination calculating unit calculates an inclination of a region around the target by a processing device based on the specific position coordinates acquired by the specific position coordinate acquiring step;
A posture calculation unit, comprising: a posture calculation step in which a processing device calculates a posture of the object with respect to the target based on a tilt of a region around the target calculated in the tilt calculation step. Device attitude calculation method. An attitude calculation apparatus that calculates an attitude of an object with respect to a target, and is executed by an attitude calculation apparatus that is a computer including a position elevation information storage unit that stores three-dimensional position coordinates including elevation information of a plurality of points in a predetermined region In the attitude calculation program to let
Target coordinate input processing for inputting target coordinates which are at least two-dimensional position coordinates of the target;
Specific position coordinate acquisition for acquiring, as specific position coordinates, a plurality of three-dimensional position coordinates in the vicinity of the target coordinates input by the target coordinate input process from among the three-dimensional position coordinates stored in the position elevation information storage unit Processing,
An inclination calculation process for calculating an inclination of a region around the target by a processing device based on the specific position coordinates acquired by the specific position coordinate acquisition process;
Causing the posture calculation device, which is the computer, to execute posture calculation processing for calculating the posture of the object with respect to the target by the processing device based on the inclination of the area around the target calculated by the tilt calculation processing. A posture calculation program of the posture calculation device.

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