JP5674318B2 - Compound guidance device and compound guidance method - Google Patents

Description

  The present invention relates to a composite guidance device and a composite guidance method that are mounted on a flying object and detect the target direction using an active method and a passive method to guide the flying object so as to track the target.

  In a guidance device that is mounted on a flying object and detects the target direction to track the target, the target radiates itself by detecting the reflected wave reflected from the target by irradiating its own radio wave and the target. There is a passive method that detects and tracks radio waves. In the active method, the angle measurement method by the phase monopulse method is often used, and in the passive method, the angle measurement method by the amplitude monopulse, phase monopulse, interferometer, etc. is adopted by the antenna element capable of receiving in a wide frequency band. Has been.

  In recent years, in order to improve the accuracy of tracking a target, a composite guidance device having both an active method and a passive method is being studied. Under such circumstances, it has become necessary to realize a passive method capable of detecting a target direction with high accuracy over a wide frequency band in a limited space such as a flying object.

  As a method for realizing a target angle measurement in a compound guidance device mounted on a flying object, there is a method as described in Patent Document 1. In this method, when an antenna element is arranged in a circular region at the tip of a flying object, an active antenna is arranged at the center of the antenna surface, and a passive antenna is arranged around the antenna.

  In the above method, a passive antenna that receives a broadband radio wave is arranged along the radome at the top of the flying object. However, in a flying object that flies at supersonic speed, the radome shape has a pointed shape, and distortion of radio wave characteristics due to passing through the radome is large, especially with a passive antenna placed in the vicinity in the vicinity of the radome. As a result, the target angle measurement accuracy decreases. In addition, there is a restriction on the mounting space, and the number of antenna elements and subsequent receivers are also restricted, so that it is necessary to realize with as few antenna elements as possible.

Japanese Patent Laid-Open No. 08-5734

  As described above, in the conventional induction system that uses the active system and the passive system, the passive antenna for receiving broadband radio waves is placed along the top radome of the flying object. When the radome shape is pointed, the distortion of the radio wave characteristics due to passing through the radome is large, and in particular, the passive antenna placed near the radome is greatly affected, and as a result, the target angle measurement accuracy is reduced. descend. In addition, there is a restriction on the mounting space, and the number of antenna elements and subsequent receivers are also restricted, so that it is necessary to realize with as few antenna elements as possible.

  The present invention has been made in consideration of the above circumstances, can reduce the influence of the radome of the passive antenna element, can further achieve angle measurement with an interferometer in a wide frequency band, An object of the present invention is to provide a composite guidance device and a composite guidance method that can remove radio wave incidence from a wide angle.

  In order to achieve the above object, the composite guiding apparatus according to the present invention is configured as follows.

  (1) In a combined guidance apparatus mounted on a flying object that employs an active method and a passive method, the flying object is disposed at the center of a circular area at the tip of a substantially cylindrical housing, and from the front of the flying object through the radome. A first passive antenna element group that receives a radio wave of the first passive element, a passive processing unit that performs angle calculation of a target direction using received signals of the elements of the first passive antenna element group, and the first passive antenna element An active antenna element group that is arranged around the group and transmits / receives radio waves to / from the flying object front direction through the radome, and performs angle calculation of a target direction using transmission / reception signals of each element of the active antenna element group Based on the result of angle measurement obtained by the active processing unit and each of the passive processing unit and the active processing unit. The flying object and aspects comprising an inductive means to divert to the target direction Te.

  (2) In the configuration of (1), the first passive antenna element group includes a plurality of elements that are non-uniformly arranged in the angle measurement direction and have different intervals from each other, and the passive processing unit has a frequency band to be observed. The reception signals of a plurality of elements having different arrangement intervals are switched and selected according to the interferometer angle measurement at a plurality of element intervals.

  (3) In the configuration of (1), a second antenna is disposed on the side surface of the substantially cylindrical casing along the peripheral surface, and receives radio waves having a wider angle than the observation angle measurement range of the first passive antenna element group. The passive antenna element group, and the passive processing unit is configured such that when any of the amplitudes of the reception signals in each element of the second passive antenna element group exceeds the amplitude value of the reception signal of the first passive antenna element group Is a mode in which the angle calculation result is discarded.

  (4) In the configuration of (3), the passive processing unit determines a zone of an incident radio wave from an amplitude value of a reception signal in each element of the second passive antenna element group, and according to a change in radio wave characteristics The discard range by the second passive antenna element group is adjusted.

  Moreover, the compound guidance method according to the present invention is configured as follows.

  (5) In a combined flying vehicle guidance method employing an active method and a passive method, along the center of a circular area at the tip of a substantially cylindrical housing in the flying object, the flying object is viewed from the front of the flying object through the radome. A first passive antenna element group that receives radio waves is disposed, and a passive process is performed in which a target direction is angled using a received signal of each element of the first passive antenna element group, and the first passive antenna element is received. An active antenna element group that transmits and receives radio waves to and from the flying object front direction through the radome is disposed around the antenna element group, and the target direction is measured using transmission / reception signals of the elements of the active antenna element group. The active process to be calculated is executed, and based on the angle measurement calculation results obtained by the passive process and the active process. There is a manner to induce the spacecraft to the target direction.

  (6) In the configuration of (5), in the first passive antenna element group, a plurality of elements are unequally arranged so as to be spaced apart from each other in the angle measurement direction, and the passive processing is performed in the frequency band to be observed. Accordingly, the interferometer angle measurement is performed at a plurality of element intervals by switching and selecting received signals of a plurality of elements having different arrangement intervals.

  (7) In the configuration of (5), a second passive device that receives radio waves having a wider angle than the observation angle range of the first passive antenna element group along the peripheral surface of the side surface of the substantially cylindrical housing. When the antenna element group is arranged and the passive processing is performed when any of the amplitudes of the reception signals in the respective elements of the second passive antenna element group exceeds the amplitude value of the reception signal of the first passive antenna element group, The angle measurement calculation result is discarded.

  (8) In the configuration of (7), an incident radio wave zone is determined from an amplitude value of a received signal in each element of the passive processing unit and the second passive antenna element group, and the radio wave zone is changed according to a change in radio wave characteristics. The discard range by the second passive antenna element group is adjusted.

  According to the present invention, it is possible to reduce the influence of the passive antenna element due to the radome, to further realize angle measurement with an interferometer in a wide frequency band, and to eliminate radio wave incidence from a wide angle. Providing a composite guidance device and a composite guidance method that can be provided can provide a guidance device.

The schematic block diagram which shows the whole structure of the flying body to which the compound guidance apparatus which concerns on this invention is applied, and the relationship between a compound guidance apparatus and a target. The block diagram which shows the structure of the compound guide apparatus shown in FIG. The figure which shows arrangement | positioning at the time of seeing from the front about the detailed arrangement | positioning of the antenna element which comprises the active antenna and passive antenna shown in FIG. The figure which shows arrangement | positioning at the time of seeing from the left side surface and the right side surface about the detailed arrangement | positioning of the antenna element which comprises the active antenna and passive antenna shown in FIG. The figure for demonstrating the interferometer system employ | adopted as an angle measuring system by the 1st group antenna element arrange | positioned in the front shown in FIG. The figure which shows the antenna element arrangement | positioning in order to prevent the precision fall of angle measurement value ((theta)), when the antenna element which implements an interferometer is switched for every observation frequency band in the said embodiment. The figure which shows the relationship between each of several observation frequency bands and the element space | interval which ensures angle measurement precision in the said embodiment. The figure which shows the relationship between the arrangement | positioning relationship of an antenna element, and the determination division in the said embodiment. The figure which shows the amplitude characteristic with respect to the radio wave arrival angle of each antenna element arranged in an azimuth angle direction, a monotone characteristic range, and a wide angle determination range as an example of the embodiment. The figure for demonstrating the case where a wide angle determination angle becomes inside a monotone characteristic range in the relationship of each of a monotone characteristic range, a wide angle determination range, and a zone determination range as an example of the said embodiment. The figure for demonstrating the case where a wide angle determination angle is outside a monotone characteristic range in the relationship between a monotone characteristic range, a wide angle determination range, and a zone determination range as an example of the embodiment. The figure which shows the process timing of each principal part in 1 detection period of a composite induction | guidance | derivation apparatus in the said embodiment. The flowchart which shows the flow of a process of the angle measuring processor in a passive signal processor in the said embodiment. The figure which shows the table which put together the relationship of an observation frequency band, an element space | interval, and the phase of a selection element (the suffix of (PHI) respond | corresponds to the code | symbol of an antenna element) in the said embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a schematic configuration diagram illustrating an overall configuration of a flying object to which a composite guidance device according to the present invention is applied and a relationship between the composite guidance device and a target as one embodiment of the present invention. In FIG. 1, T is a moving target, M is a flying body, and the flying body M is equipped with a composite guiding device M1 and a steering device M2.

  The compound guidance device M1 is a device showing an embodiment of the present invention, and detects a radio wave (received wave) reflected from the target T and radiated (transmitted wave) to the moving target T and reflected from the target T. It has a function to track (active function) and a function to detect and track the radio wave (target radiated wave) radiated from the moving target T (passive function), and output a steering signal to track the detected moving target T To do.

  The steering device M2 performs steering for the flying object M to fly in the target direction based on the steering signal from the composite guidance device M1.

  FIG. 2 is a block diagram showing a configuration of the composite guidance device M1. A radome 11 is attached to the tip of the composite guiding device M1. The radome 11 has a shape (pointed shape, etc.) that reduces the aerodynamic drag caused by the flying body M1 flying at high speed, protects the internal equipment from aerodynamic pressure, and further from the moving target T. A material capable of transmitting radio waves in a wide frequency band is selected.

  The upper stage shown in FIG. 2 is a system that realizes an active function (hereinafter referred to as an active system device), and includes an active antenna 12, an active high frequency unit 13, an active signal converter 14, and an active signal processor 15.

  In the active system, a transmission signal generated from a signal source (not shown) is converted into a high frequency by the active signal converter 14, power is amplified by the active high frequency unit 15, and is transmitted from the active antenna 12 toward the moving target T. .

  Further, the radio wave reflected and returned from the moving target T is received by the active antenna 12, amplified with low noise by the high frequency unit 13, returned to the baseband by the active signal converter 14, and sent to the active signal processor 15.

  The active signal processor 15 detects the target signal by removing the clutter component from the received signal, and calculates and outputs the direction of the moving target T from the detection result. The target direction obtained in this way is sent to the steering signal generator 16.

  On the other hand, the lower stage shown in FIG. 2 is a system that realizes a passive function (hereinafter referred to as a passive system device), and includes a passive antenna 17, a passive high-frequency unit 18, a passive signal converter 19, and a passive signal processor 20. The passive antenna 17 is composed of a first group of passive antenna elements A11 to A15 and a second group of passive antenna elements A21 to A26 having a broadband reception characteristic so that various types of radio waves radiated by the target T can be received. The passive signal processor 20 includes a data processor 201, an angle measurement processor 202, and a timing controller 203. The first group of passive antenna elements A11 to A15 performs detection and angle measurement of the moving target T, and the second group of passive antenna elements A21 to A26 have a wider angle from the outside than the angle that is the observation target range. The purpose is to remove incident radio waves.

  Since the complex induction device M1 is mounted on the flying object M and the mounting space is limited, and the number of systems that simultaneously receive radio waves is limited, the passive high-frequency unit 18 and the passive signal converter 19 in FIG. It was supposed to have. Therefore, the reception signals from the passive antenna elements A11 to A15 and A21 to A26 are internally controlled by the passive antenna switch 171 such as a switch so that outputs of four elements can be obtained according to the number of reception systems. I am trying to do it.

  However, the number of reception systems is not limited to four, and can be increased or decreased according to the equipment mounting space.

  The signal converted into a digital signal processable form by the passive high-frequency unit 18 and the passive signal converter 19 enters the passive signal processor 20 and is AD-converted by the data processor 201 and stored in a memory or the like. Then, the angle measuring processor 202 performs processing for detecting and measuring the moving target T, and outputs the angle value (direction) of the moving target T to the steering signal generator 16. In the steering signal generator 16, information on the direction of the moving target T obtained from both the active signal processor 15 and the passive signal processor 20 is integrated, and steering for the flying object M to track the moving target T is performed. A command signal is generated and output to the steering device M2.

  3 and 4 show the detailed arrangement of the active antenna 12 and the antenna elements A11 to A15 and A21 to A26 constituting the passive antenna 17. FIG. 3 shows an arrangement when viewed from the front, FIG. 4A shows an arrangement when viewed from the left side, and FIG. 4B shows an arrangement when viewed from the right side. Since the antenna 12 and the antenna elements A11 to A15, A21 to A26 are arranged at the tip of the cylindrical housing of the flying object M for the purpose of detecting the moving target T and measuring the angle, the circular shape in the figure. Arranged within each range.

  In this regard, in the prior art, the active antenna 12 is preferentially disposed in the center, and the passive antenna 17 is disposed in the vicinity thereof (Patent Document 1). However, when the radio wave that has passed through the radome 11 is received in a wide band, the radome 11 has a special shape such as a pointed shape due to aerodynamic considerations. Therefore, if the passive antenna 17 is disposed around the active antenna 12. The radome 11 has a large distortion of the amplitude and phase characteristics of the radio wave, and it is difficult to realize the angle measurement of the moving target T with high accuracy over a wide band.

  In order to solve this, in this embodiment, among the passive antennas 17, the first group of antenna elements A <b> 11 to A <b> 15 that detect the moving target T and measure the angle are less affected by the distortion of the radome 11 over a wide band. The active antenna 12 is arranged around the center with priority. In general, since the active antenna 12 only needs to handle a narrow band in accordance with the frequency band of its own transmission wave, optimum adjustment is possible even if the radome 11 is affected.

  On the other hand, among the passive antennas 17, the second group of antenna elements A <b> 21 to A <b> 26 are arranged on the inner surface of the flying body M at six locations at almost equal intervals. In this way, when target angle measurement is performed by the first group of antenna elements A11 to A15 arranged in front, radio waves incident at a wider angle than the angle that is the observation target range are transmitted to the second group. By detecting the antenna elements A21 to A26 and removing them as received signals of radio waves incident from angles outside the observation target range, erroneous target angle measurement is avoided.

  Here, with reference to FIG. 5, the interferometer system employ | adopted as an angle measuring system by the 1st group antenna elements A11-A15 arrange | positioned in the front is demonstrated.

In this interferometer method, the phase difference Φ _A − between the elements A and B is used by using the phases Φ _A and Φ _B of the radio waves simultaneously received by the two antenna elements A and B shown in FIG. From Φ _B , the incident angle (target angle measurement value) θ of the received radio wave is calculated from the following equation.
sinθ = (Φ _A −Φ _B ) · C / (2π · F · d) (1)
C: speed of light, F: radio frequency At this time, the phase of the radio wave has a periodicity of ± 180 ° as shown in FIG. It has a periodicity determined by the frequency (F) of the target radio wave and the element spacing (d).

  Conventionally, the element interval (d) is set in accordance with the maximum frequency to be observed in order to ensure monotonicity within the angular range to be observed while avoiding this periodicity. However, in this case, there is a problem that the accuracy of the angle measurement value (θ) obtained by the interferometer method decreases as the observation frequency (F) decreases.

  In order to solve this problem, in the present embodiment, the antenna element that implements the interferometer is switched for each observation frequency band so as to prevent the accuracy of the angle measurement value (θ) from being lowered. A detailed arrangement of the antenna elements A11 to A15 is shown in FIG.

  In FIG. 6, antenna elements A11, A12, A13 are arranged on the same axis in the elevation direction (vertical direction in the drawing) in the flying posture of the flying object M, and are used for interferometer angle measurement in the elevation direction. . The element interval between the antenna elements A11 and A12 is d2, the element interval between the antenna elements A12 and A13 is d3, and d2> d3.

  Here, the accuracy in interferometer angle measurement is ensured by selecting the elements to be used so that the element spacing used in each observation frequency band of F1 to F4 is appropriate. FIG. 7 shows the relationship between each of the observation frequency bands F1 to F4 and the element spacing for ensuring angle measurement accuracy.

  That is, in the lowest frequency band F1 to be observed, interferometer angle measurement is performed with the element spacing d1 (= d2 + d3) by the antenna elements A11-A13, and in the next frequency band F2, the antenna elements A11-A12 Interferometer angle measurement is performed with the element interval d2, and the next frequency band F3 is interferometer angle measurement with the element interval d3 of the antenna element A13-A12, and the antenna element A11, A12, The interferometer angle measurement is performed with the element spacing d4 (= d2-d3) using the three elements A13.

  On the other hand, the antenna elements A14, A12, A15 are arranged on the same axis in the azimuth direction (lateral direction in the drawing) in the flying posture of the flying object M, and are used for interferometer angle measurement in the azimuth direction. The element interval of the antenna elements A15-A12 is d2, the element interval of the antenna elements A12-A14 is d3, and d2> d3.

  Here, similarly to the angle measurement in the elevation direction, in the lowest frequency band F1 to be observed, the interferometer angle measurement is performed with the element interval d1 (= d2 + d3) by the antenna elements A14-A15. In the frequency band F2, the interferometer angle measurement is performed with the element interval d2 of the antenna elements A15-A12, and in the next frequency band F3, the interferometer angle measurement is performed with the element interval d3 of the antenna elements A14-A12. In the high frequency band F4, the interferometer angle measurement is performed with the element interval d4 (= d2-d3) using the three antenna elements A14, A12, and A15.

  Next, wide angle removal by the antenna elements A21 to A26 disposed on the side surfaces will be described with reference to FIGS.

  In interferometer angle measurement, periodicity always occurs, and even if monotonicity is ensured in the observation target angle range, an erroneous angle detection is performed for radio waves incident from the outside. Therefore, it is necessary to reliably remove radio waves incident from outside the observation target range. Hereinafter, this process is referred to as “wide-angle removal”.

  FIG. 8 is a diagram showing the relationship between the arrangement relationship of each of the antenna elements A11 to A15 and A21 to A26 and the determination category, and FIG. 9 is an example of amplitude characteristics and monotone characteristic ranges with respect to the radio wave arrival angles of the antenna elements arranged in the azimuth direction. FIG. 10 is a diagram for explaining a case where the wide angle determination angle is inside the monotone characteristic range in the relationship between the monotone characteristic range and the wide angle determination range and the zone determination range, and FIG. It is a figure for demonstrating the case where a wide angle determination angle becomes outside a monotone characteristic range in the relationship between a characteristic range, a wide angle determination range, and a zone determination range.

  In the wide-angle removal, in the arrangement of each antenna element shown in FIG. 8, for example, as shown in FIG. 9 (in the case of the azimuth direction), the antenna element A12 arranged in the center of the front, and the antenna elements A21 to A26 arranged on the side surface (see FIG. 9 is A22, A25) comparing the amplitude levels of the respective received signals, and the observation target range when the amplitude of the front antenna element A12 is larger than all the amplitude levels of the antenna elements A21 to A26 arranged on the side surface Angle measurement processing is performed by determining that the radio wave is not incident from the outside. In other words, when any of the amplitude levels at the antenna elements A21 to A26 is larger than the amplitude level of the antenna element A12, it is determined that the radio wave is incident from outside the observation target range (wide angle determination), and angle measurement processing is performed. Is not implemented.

In order to realize the wide angle determination, the amplitude characteristics of the antenna elements A21 to A26 and the antenna element A12 intersect with each other at angles (a and a ′) determined to be out of the observation target range as shown in FIG. To be pre-adjusted. In the pre-adjustment, as shown in FIG. 10, an angle range (a ′ or less, a or more) determined to be outside the observation target range is a range (θ _L ′ to θ _U ′) that ensures monotonicity by interferometer angle measurement. ), The monotonicity in interferometer angle measurement is ensured, and angle measurement is possible.

  However, when the characteristics of the received radio wave (for example, the difference in polarization) differs from the adjusted radio wave condition, for example, the amplitude characteristic V22 of the antenna element A22 becomes a characteristic as indicated by a dotted line in FIG. The angle adjusted for determination may be shifted. In particular, when this angle deviates to the outside, an angle range that does not ensure the monotonicity of the angle measurement of the interferometer occurs even if it is determined to be within the observation target, such as the angle range within the dotted line in the figure. If a radio wave is incident from the direction, the angle is measured incorrectly.

In order to avoid such a situation, in addition to the determination of whether or not the object is within the range of the observation target by the wide angle determination, as shown in FIG. 8, the zone determination of the radio wave incident direction (azimuth direction and elevation direction) is performed. For example, as shown in FIG. 9, the zone determination is performed when the amplitude of the radio wave received in the range of the antenna elements A21 to A26 (A22 and A25 in FIG. 9) exceeds the threshold _Vth. From the position, the zone of the incident radio wave, that is, the left or right zone in the azimuth direction and the upper or lower zone in the height direction are determined.

  In addition, the zone polarity in the azimuth direction (left or right) and elevation angle (up or down) is pre-adjusted so that the polarities of the measured values in the azimuth direction and elevation angle measured by the interferometer measurement angle match. Keep it.

  Thereby, as shown in the angle range near the dotted line in FIG. 11, even when the wide-angle determination angle adjusted as outside the observation target is shifted and a situation in which erroneous angle measurement is performed due to the periodicity of the interferometer angle measurement occurs, By determining the zone determination and the polarity coincidence of the angle measurement value, it is possible to avoid a situation where the angle is measured by mistake.

  Next, the processing operation of this embodiment will be described with reference to FIGS. 12 and 13.

  FIG. 12 is a diagram showing the processing timing of each main part in one detection period of the composite guidance device M1, and FIG. 13 is a flowchart showing the processing flow of the angle measuring processor 202 in the passive signal processor 20.

  The timing controller 203 outputs a control signal to the passive antenna switching unit 171 and sequentially assigns the passive antenna elements A11 to A15 and A21 to A26 to the four receiving systems at the timing shown in FIG. The passive antenna switch 171 switches a built-in switch or the like based on the control signal to select a passive antenna element to be used. The received signals of the passive antenna elements selected by the four receiving systems are amplified with low noise by the passive high-frequency unit 18, converted to baseband by the passive signal converter 19, and then AD-converted by the data processor 201 and stored in the memory. Saved in. At the end of one detection period, the timing controller 203 designates the observation frequency band as the passive high-frequency unit 18 and switches the frequency to be observed in the next detection period.

  Note that the switching width of the observed frequency can be set independently of the previous frequency bands F1 to F4. As shown in FIG. 13 to be described later, the interferometer angle measurement processing uses the observed frequency as the frequency band. It is implemented by determining which of F1 to F4 is included.

The angle measurement processor 202 performs wide angle determination and angle measurement by an interferometer for each detection period according to the flowchart shown in FIG. In FIG. 13, all the antenna element reception data (amplitude V · phase Φ) of each of the stored four reception systems are input from the data processor 201 (step S1). First, it is determined whether or not the amplitude value (V12) of the antenna element A12 located substantially at the front center is equal to or higher than the threshold level (V _th ) necessary for target detection (step S2). If it is below the threshold level, the process ends as “no detection”. If it is above the threshold level, “detection is detected” and the process proceeds to the next step for angle measurement.

  Next, the amplitude value (V12) at the antenna element A12 is compared with the amplitude values (V21 to V26) of the six antenna elements A21 to A26 arranged on the side surface (step S3), and the antenna element A12 It is determined whether the amplitude value (V12) is larger than any of (V21 to V26) (step S4). In the case of V12> V21 to V26, it is determined that the reception is from the front direction, which is the observation target range, and the process proceeds to angle measurement calculation. When any of the amplitude values (V21 to V26) of the side antenna elements A21 to A26 is larger than the amplitude value (V12) of the antenna element A12, it is determined that the radio wave is incident from outside the observation target range (wide angle determination). Then, a series of processing is completed.

Next, in the angle measurement, it is determined whether the observed frequency is in one of the observation frequency bands F1 to F4 (step S5), and the element interval determined from the observation frequency band and the reception data of the antenna element corresponding thereto are determined. (Phase Φ of each element) is selected (step S6), and angle measurement calculation (FIG. 5) based on the interferometer principle is performed (step S7). The processing in step S6 is performed by referring to a table that summarizes the relationship between the observation frequency band, element spacing, and selection element phase (the suffix of Φ corresponds to the code of the antenna element) shown in FIG. select. In the angle measurement calculation in step S7, angle measurement values (θ _AZ , θ _EL ) are calculated for each of the azimuth angle direction and the elevation angle direction using equation (1).

At this time, it is determined whether the amplitude values (V21 to V26) of the side antenna elements A21 to A26 are equal to or higher than the threshold level (V _th ). Then, the angle measurement values (θ _AZ , θ _EL ) obtained by the angle calculation are directly output to the steering signal generator 16. On the other hand, if any of the amplitude values (V21 to V26) of the side antenna elements A21 to A26 exceeds the threshold level, there is a possibility that it is a peripheral region within the observation target range. Transition.

More specifically, when the process of step S7 is completed, the antenna element of the second group arranged in a side A21~A26 selects the maximum amplitude value V _max of the respective amplitude values V21～V26 (step S8). Here, it is determined whether or not the maximum amplitude value V _max has exceeded the threshold level (step S9). If not, the received radio wave is determined to be within the observation target, and the direction obtained in step S7 without designating a zone. The angle measurement value for each of the angle and the elevation angle is output (step S10), and the series of processes is terminated. If the threshold level is exceeded, the process proceeds to the zone designation process described below.

  In the zone designation process, first, the antenna element having the maximum value is selected from the amplitude values V21 to V26 of the reception signals of the side antenna elements A21 to A26, and as shown in FIG. Zone designation in the azimuth direction from the position is performed (step S11). Further, the antenna element having the maximum value is selected from the amplitude values V21, V23, V34, V26 of the received signals of the side antenna elements A21, A23, A24, A26, and as shown in FIG. The zone designation in the height direction from the position is performed (step S12).

Next, information on each of the polarities of the elevation angle and azimuth angle measurement value obtained by the angle measurement calculation and the polarity obtained in the zone designation region is acquired (step S13), and the azimuth angle measurement value θ _AZ is obtained. The polarities and the polarities of the zones in the azimuth direction, the polarities of the angle measurement values θ _EL of the elevation angle and the polarities of the zones in the elevation direction are compared (step S14). In this determination, if both coincide with each other, it is determined that the angle measurement calculation is valid within the observation target, and the process proceeds to step S10, and the angle measurement values (θ _AZ , θ _EL ) of the azimuth angle and the elevation angle obtained in step S7 ) Is output to the steering signal generator 16 and the series of processes is terminated. On the other hand, if either of them does not match, there is a high possibility that the angle is measured by the interferometer method, so the process ends as invalid data.

  In the composite induction device having the above configuration, the passive antenna elements A11 to A15 of the first group are preferentially arranged in the center of the front. Thereby, the influence of the radome 11 is small, and a reception signal can be obtained in a wide band. In addition, the angle measurement method using a passive antenna is an interferometer method, in which a total of five antenna elements A11 to A15 are arranged at unequal intervals, and four types of element intervals d1 to d4 are used in the azimuth and elevation directions. Meter angle measurement is realized, and the element interval in interferometer angle measurement is changed by switching the antenna element to be observed according to the observed frequency bands F1 to F4. As a result, angle measurement with an interferometer in a wide frequency band can be realized with high accuracy.

  On the other hand, the second group of passive antenna elements A21 to A26 are arranged on the side surface of the flying object M so as to be directed in the six directions around the flying object M, and an interferometer measurement is performed from the amplitude value of the received signal of each antenna element A21 to A26. The radio wave incidence from a wide angle where the angle is difficult is discriminated, and the angle measurement calculation result is appropriately discarded. Thereby, the angle measurement accuracy by the radio wave from the observation target range can be improved. Furthermore, even if the radio wave characteristics such as polarization change and the range that can be removed changes, the zone of the incident radio wave (the elevation angle direction, the azimuth angle direction) and the like are also determined. Thereby, it is possible to eliminate an erroneous angle measurement.

  In the above embodiment, four reception systems are observed at the same time, but the present invention is applicable to any number of systems depending on the mounting scale. In either case, it can be handled by changing the number of observation modes according to the processing timing. Further, the direction of angle measurement is not limited to the two directions of elevation angle and azimuth angle, and in the case of one direction, it is possible to realize a more simplified form.

  Further, 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. Further, according to the present invention, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. 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.

  T ... Moving target, M ... Flying object, M1 ... Compound guidance device, M2 ... Steering device, 11 ... Radome, 12 ... Active antenna, 13 ... Active high frequency unit, 14 ... Active signal conversion unit, 15 ... Active signal processor , 16 ... Steering signal generator, 17 ... Passive antenna switcher, 18 ... Passive high-frequency unit, 19 ... Passive signal converter, 20 ... Passive signal converter, 201 ... Data processor, 202 ... Angle measuring processor, 203 ... Timing controller.

Claims (4)

In a combined guidance device mounted on a flying object that uses an active method and a passive method,
A first passive antenna element group disposed in the center of a circular region at the tip of a substantially cylindrical housing in the flying body, and receiving radio waves from the front direction of the flying body through a radome ;
A passive processing unit for measuring a target direction using a received signal of each element of the first passive antenna element group;
An active antenna element group disposed around the first passive antenna element group, for transmitting and receiving radio waves to and from the flying object front direction through the radome;
An active processing unit that performs angle measurement of a target direction using transmission / reception signals of each element of the active antenna element group;
Guidance means for guiding the flying object in the target direction based on angle measurement results obtained in each of the passive processing unit and the active processing unit,
And a second passive antenna element group that is disposed along a peripheral surface of the substantially cylindrical housing and receives a wide-angle radio wave from an observation angle measurement range of the first passive antenna element group,
When any of the amplitudes of the reception signals in the respective elements of the second passive antenna element group exceeds the amplitude value of the reception signals of the first passive antenna element group, the passive processing unit displays the angle measurement calculation result. A compound guidance device characterized by being discarded.   The passive processing unit determines an incident radio wave zone from an amplitude value of a received signal in each element of the second passive antenna element group, and discards the second passive antenna element group according to a change in radio wave characteristics. The composite guidance device according to claim 1, wherein the range is adjusted. In the combined guidance method of flying objects adopting active method and passive method,
The central circular area having a substantially cylindrical housing tip in the flying object, place the first passive antenna element group for receiving radio waves from the flying object front direction through the radome,
Performing passive processing for angle-measuring the target direction using the received signals of the respective elements of the first passive antenna element group;
Around the first passive antenna element group, an active antenna element group that transmits and receives radio waves with respect to the flying object front direction through the radome is arranged,
Performing an active process for angle-measuring a target direction using transmission / reception signals of each element of the active antenna element group,
Inducing the flying object in the target direction based on the angle measurement calculation results obtained in each of the passive processing and active processing,
Furthermore, a second passive antenna element group that receives radio waves having a wider angle than the observation angle measurement range of the first passive antenna element group is disposed along a peripheral surface on a side surface of the substantially cylindrical housing,
In the passive processing, when any of the amplitudes of the reception signals in the respective elements of the second passive antenna element group exceeds the amplitude value of the reception signals of the first passive antenna element group, the angle measurement calculation result is discarded. A combined induction method characterized by:   The passive processing determines an incident radio wave zone from an amplitude value of a received signal in each element of the second passive antenna element group, and a discard range by the second passive antenna element group according to a change in radio wave characteristics. The combined induction method according to claim 3, wherein:

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