JP5788943B2 - Flying object guiding apparatus and guiding method - Google Patents

Description

  The present invention relates to a flying object guidance apparatus and guidance method, and more particularly, to a guidance apparatus and guidance method for guiding a flying object toward a detected flying object.

  Various methods for detecting a flying object using a radar have been proposed. In detection using a radar, a directional radio wave is radiated from an antenna, and a reflected radio wave reflected on the flying object is received and observed by the antenna, thereby measuring the azimuth, elevation angle, and distance of the flying object. However, in the detection using the above-described radar, it is difficult to detect a stealth-compatible flying object with extremely low radio wave reflectance.

  Therefore, in Patent Document 1, in addition to detection by a radar, infrared light emitted from a flying object is detected using an infrared seeker, and position information of the flying object is acquired based on a detection result by the radar and an infrared detection result. It has been proposed. In addition, in Patent Documents 2 and 3, the inventors detect a flying object by observing a time change of a reception distribution of a radio wave radiated from space instead of observing a radio wave reflected from the flying object. Proposed that.

Japanese Utility Model Publication No. 5-8291 JP 2010-085329 A JP 2010-091326 A

  In the technique of Patent Document 1, since the detection range of the infrared seeker is not wide and the detectable distance of the infrared seeker is short, in order to detect the infrared rays emitted from the flying object using the infrared seeker, the flying object is roughly It is necessary to estimate the existing range in advance. However, as described above, since it is difficult to detect a stealth-compatible flying object with a radar, the infrared seeker cannot be used effectively.

  On the other hand, in the techniques of Patent Documents 2 and 3, when detecting a flying object based on the time change of the radio wave reception distribution, it is possible to detect the azimuth and elevation angles of the flying object, but the distance to the flying object is not known. .

  Further, none of the above-mentioned patent documents considers a method of guiding a flying object toward a flying object only by detecting the flying object.

  The present invention has been made in view of the above problems, and even when a flying object to be detected is a flying object having a stealth property with extremely low radar radio wave reflectivity, the position of the flying object is detected with high accuracy. It is an object of the present invention to provide a flying object guiding apparatus and a guiding method capable of guiding a flying object to a flying object.

  In order to achieve the above object, the flying object guiding apparatus according to the present invention observes the position of the flying object based on the temporal change in the reception level of the radio waves derived from the universe, and observes the flying object observation position (from the position observation means). A position observation means for outputting an azimuth and an elevation angle, and when the position of the flying object can be detected by a non-radio wave sensor, the detection position of the flying object (the azimuth angle and elevation angle from the flying object or the azimuth angle and elevation angle from the flying object) The flying object that outputs the distance) and the position information of the flying object (azimuth angle, elevation angle and distance from the guiding means) are acquired, and the acquired position information of the flying object and the output observation position of the flying object (position observation) Guidance means for guiding the flying object in the direction of the flying object based on the azimuth and elevation angle from the means.

  In order to achieve the above object, the flying object guiding method according to the present invention can detect the flying object's detection position (azimuth and elevation angle from the flying object or from the flying object when the position of the flying object can be detected by the non-radio wave sensor. A method for guiding a flying object that outputs azimuth, elevation, and distance) by observing the position of a flying object based on changes over time in the reception level of radio waves derived from space, Output azimuth and elevation), acquire the position information of the flying object (azimuth angle, elevation angle and distance from the acquisition point), and based on the acquired position information of the flying object and the output observation position of the flying object , Guide the flying object in the direction of the flying object.

  According to the aspect of the present invention described above, even if the flying object to be detected is a flying object having a stealth property with extremely low radar radio wave reflectivity, the detected position of the flying object (azimuth and elevation angle from the flying object or flying object) Azimuth angle, elevation angle, and distance) can be detected with high accuracy, and the flying object can be guided toward the flying object.

It is a block block diagram of the flying body guidance apparatus 10 which concerns on 1st Embodiment. It is a block block diagram of another flying body guidance device 10B according to the first embodiment. It is a system configuration figure of flying object guidance system 100 concerning a 2nd embodiment. They are (a) the latest radio wave level map 210 and (b) the reference level map 220 according to the second embodiment. It is an operation | movement flowchart of the flying body guidance system 100 which concerns on 2nd Embodiment. In the flying object guidance system 100 which concerns on 2nd Embodiment, it is a figure of the state which is guiding the flying object 300 toward the flying object 700 with the radar 400. FIG. It is a system configuration figure of another flying object guidance system 100B concerning a 2nd embodiment.

(First embodiment)
A first embodiment according to the present invention will be described. A block diagram of the flying object guiding apparatus according to the present embodiment is shown in FIG. In FIG. 1, the flying object guiding apparatus 10 includes a position observing means 20, a flying object 30, and a guiding means 40.

  The position observing means 20 includes a radio telescope 21, a database 22, and a comparing means 23. The position observing means 20 observes the position of the flying object on the basis of the temporal change in the reception level of the cosmic radio wave, and the observation position of the flying object (from the radio telescope 21). Azimuth and elevation angle) to the guiding means 40.

  The radio telescope 21 observes radio waves derived from space, and outputs a radio wave level map in which radio wave reception levels are tabulated for each coordinate position in the sky at a constant cycle. The radio telescope 21 according to the present embodiment observes radio waves having a wavelength of 0.03 to 40 m.

  The database 22 holds the radio wave level map input from the radio telescope 21, and also generates and holds a reference level map by aggregating a plurality of radio wave level maps input in the past.

  The comparison means 23 compares the latest radio wave level map with the reference level map, and outputs the coordinates where the reception level is lowered as the observation position of the flying object (azimuth and elevation angle from the radio telescope 21). The radio waves radiated from the cosmic celestial bodies are not uniform in the position coordinates of the sky, and differ depending on the position coordinates of the sky. Therefore, by registering the radio wave reception level value (reference level map) for each coordinate of the celestial body observed in the past in the database 22 and using it as the reference of the latest radio wave reception level observation value (radio wave level map), Shadows that block radio waves can be detected.

  When the reception level of the latest radio wave level map is lower than the reception level of the reference level map in a continuous predetermined range of coordinate groups on the level map, the comparison unit 23 according to this embodiment flies over the coordinate group. It outputs to the guidance means 40 as an observation position of an object. The distribution of the coordinate group reflects silhouettes depending on the size and shape of the flying object.

  Here, the comparison means 23 compares the past radio wave level map held in the database 22 with the latest radio wave level map, thereby estimating the moving direction of the flying object and estimating the future position, and the estimated flight. The future position of the object can also be output as the observation position of the flying object (the azimuth and elevation angle from the radio telescope 21). That is, the movement vector of the flying object is calculated by arranging the shadows detected in the radio wave level map in the new order, and the position of the flying object after moving (the future position of the flying object) is estimated using the movement vector. Can also be output as the observation position (azimuth and elevation angle from the radio telescope 21).

  The flying object 30 is equipped with a non-radio wave sensor 31 and is wirelessly guided by the guiding means 40 in the direction of the flying object. When the non-radio wave sensor 31 detects the position of the flying object, the flying object 30 outputs the detected position (the azimuth and elevation angle from the flying object or the azimuth angle, elevation angle and distance from the flying object) to the guiding means 40. To do.

  As the non-radio wave sensor 31, a non-radio wave sensor such as an infrared sensor or a laser light sensor can be applied. When the non-radio wave sensor 31 is an infrared sensor, when the infrared ray emitted from the flying object to be detected is detected, the guidance means 40 uses the infrared detection result as the flying object detection position (azimuth angle and elevation angle from the flying object). Output to. Further, when the non-radio wave sensor 31 is a laser light sensor, when the laser light is irradiated to the flying object to be detected and the laser light reflected from the flying object is detected, the detection result of the laser light is detected as the detection position of the flying object. It is output to the guiding means 40 as (azimuth angle, elevation angle and distance from the flying object).

  The guiding means 40 includes a radar 41 that irradiates the flying object 30 with radio waves and acquires position information (azimuth angle, elevation angle, and distance from the radar) based on the radio waves reflected by the flying object 30. The guiding means 40 receives the flying object observation position (azimuth and elevation angle from the radio telescope) input from the position observation means 20 and the position information of the flying object 30 acquired by the radar 41 (azimuth angle, elevation angle and distance from the radar). ) To guide the flying object 30 wirelessly in the direction of the flying object. The guiding means 40 according to the present embodiment wirelessly guides the flying object 30 so that the traveling direction of the flying object 30 coincides with a straight line from the radio telescope 21 toward the flying object.

  When the detection position of the flying object (azimuth angle and elevation angle from the flying object, or azimuth angle, elevation angle and distance from the flying object) is input from the flying object 30, the guiding means 40 receives the flying object input from the position observation means 20. Instead of using the observation position (azimuth and elevation angle from the radio telescope), the detection position of the flying object input from the flying object 30 (azimuth angle and elevation angle from the flying object or azimuth angle, elevation angle and distance from the flying object) Based on the position information of the flying object 30 (azimuth angle, elevation angle and distance from the radar) acquired by the radar 41, the flying object 30 is guided in the direction of the flying object. It is also possible for the guiding means 40 to guide (homing) the flying object 30 so that the flying object 30 finally collides with the flying object to be detected.

  When the flying object guiding apparatus 10 configured as described above does not input the flying object detection position (the azimuth angle and elevation angle from the flying object or the azimuth angle, elevation angle and distance from the flying object) from the flying object 30, The flying object 30 is guided in a direction toward the flying object based on the observation position (the azimuth and elevation angle from the radio telescope) of the flying object observed using the radio waves derived from the universe. When the flying object guidance device 10 configured as described above receives the flying object detection position from the flying object 30, the flying object detection position (the azimuth angle from the flying object and the azimuth angle from the flying object) The flying object 30 is guided in the direction of the flying object based on the elevation angle or the azimuth, elevation angle and distance from the flying object.

  Therefore, the flying object guiding apparatus 10 according to the present embodiment can detect the flying object detection position (the azimuth angle from the flying object) even if the flying object to be detected is a flying object having a stealth property with extremely low radar radio wave reflectance. Further, the flying object 30 can be guided to the flying object by detecting the elevation angle or the azimuth angle, elevation angle and distance from the flying object with high accuracy.

  Furthermore, the flying object guiding apparatus 10 configured as described above causes the flying object 30 to travel toward the flying object to be detected and radiates radio waves from the radar 41 toward the flying object 30, thereby flying. It can be notified that the position is grasped with respect to the object. Note that a GPS sensor can be mounted on the flying object 30 and the position information (latitude, longitude, and altitude) of the flying object 30 acquired by the GPS sensor can be output to the guiding means 40. In this case, it is not always necessary to radiate radio waves from the radar 41 toward the flying object 30. By using the GPS sensor, the guiding means 40 can quickly and easily acquire the position information (latitude, longitude, and altitude) of the flying object 30.

  Here, a modern aircraft generally has a radio wave reverse detection device. In particular, since the radio wave for tracking by the radar is continuously emitted, if the flying object is an aircraft, a serious warning that the aircraft will be detected and tracked (locked on) when the radar wave is received It is recognized that. If an aircraft with stealth is exposed, there is a possibility that it will try to prevent radar tracking by actively emitting jamming waves.

  In the flying object guiding apparatus 10 of FIG. 1, when the radar 41 cannot measure the position of the flying object 30 (azimuth angle, elevation angle and distance from the radar) due to the interference radio wave emitted from the flying object, the guiding means 40 is flying. The function of guiding the body 30 toward the flying object is lost. Therefore, it is desirable to arrange a radio wave reverse detection reception sensor in advance on the flying object. FIG. 2 shows a block diagram of the flying object guidance apparatus when the radio wave reverse detection receiving sensor is arranged on the flying object.

  The flying object guidance device 10B of FIG. 2 is obtained by adding a radio wave reverse detection reception sensor 32B to the flying object guidance device 10 of FIG. Since the position specifying means 20B of the flying object guiding apparatus 10B shown in FIG. 2 operates in the same manner as the position specifying means 20 of the flying object guiding apparatus 10 shown in FIG. 1, detailed description thereof is omitted. Hereinafter, a description will be given focusing on differences from the flying object guiding apparatus 10 shown in FIG.

  The radio wave reverse detection receiving sensor 32B is mounted on the flying object 30B together with the non-radio wave sensor 31B, detects the jamming radio wave emitted from the flying object, and the direction in which the jamming radio wave is emitted (azimuth and elevation angle from the flying object). Is detected. When the flying object 30B detects the direction (azimuth angle and elevation angle) in which the jamming radio wave is irradiated by the radio wave reverse detection reception sensor 32B, the flying object 30B outputs the irradiation direction (azimuth angle and elevation angle) of the jamming radio wave to the guiding means 40B. Independent flight toward the irradiation direction (azimuth angle and elevation angle) of the disturbing radio wave detected by interrupting the guidance by the guidance means 40B is started.

  As described above, the flying object guiding apparatus 10B of FIG. 2 determines the detection position (azimuth and elevation angle) of the flying object by the radio wave reverse detection reception sensor 32B even when the disturbing radio wave is irradiated from the flying object having the stealth property. Can be detected. Then, the flying object 30B can fly stably toward the flying object by flying independently toward the direction of the flying object detected by the radio wave reverse detection receiving sensor 32B.

(Second Embodiment)
A second embodiment will be described. The flying object guidance system according to the present embodiment detects a flying object with extremely low radio wave reflectance that is difficult to detect with a radar, and guides the flying object toward the flying object. FIG. 3 shows a system configuration diagram of the flying object guidance system. In FIG. 3, the flying object guidance system 100 includes a radio telescope 200, a flying object 300, a radar 400, a database 500, and a control device 600.

  The radio telescope 200 collects radio waves radiated from celestial bodies existing in space using a parabolic antenna or a phased array antenna, and directional beam synthesis with high resolution for the radio waves collected using a multi-beam receiver or the like. Receive processing such as frequency conversion and amplification is performed. Furthermore, the radio telescope 200 totals the reception levels of the radio waves subjected to the reception processing for each azimuth angle and elevation angle coordinate, and outputs them to the database 500 and the control device 600 as a radio wave level map. In place of the radio telescope 200, a radio interferometer or the like can be used.

  The radio telescope 200 according to the present embodiment collects radio waves having a wavelength of 0.03 to 40 m as observation targets. A radio wave having a wavelength of 40 m or more is reflected on the ionosphere and is not suitable for observation on the ground. On the other hand, radio waves having a wavelength of 0.03 m or less are not suitable for observation on the ground because they are absorbed by water molecules and oxygen molecules in the atmosphere.

  The flying object 300 is a flying probe with an infrared sensor 310 disposed at the tip. A flying route of the flying object 300 is controlled by the radar 400 so as to fly on a straight line connecting the flying object 700 to be detected and the radio telescope 200, and the flying object 700 is emitted from the flying object 700 using the infrared sensor 310 on the flying route. Attempts to detect emitted infrared light. The flying object 300 according to the present embodiment detects the engine exhaust heat of the flying object 700 to be detected and the frictional heat between the airframe and the air by the infrared sensor 310. When the flying object 300 detects infrared rays emitted from the flying object 700, the flying object 300 outputs a detection position (an azimuth angle and an elevation angle from the flying object) to the control device 600. Note that the flying object 300 can finally fly autonomously toward the flying object 700.

  The radar 400 irradiates the flying object 300 with radio waves and detects the reflected radio waves, thereby measuring the detection position (azimuth angle, elevation angle and distance from the radar) of the flying object 300, and measuring the measured flying object 300. Is output to the control device 600. Further, the radar 400 is configured so that the flight route matches the straight line connecting the flying object 700 and the radio telescope 200 based on the flying object guidance information (control information on the flying direction of the flying object) input from the control device 600. The flying object 300 is guided wirelessly.

  The database 500 stores a radio wave level map and a reference level map input from the radio telescope 200. The reference level map is, for example, a map obtained by selecting a plurality of radio wave level maps in the newly stored order and averaging the reception levels excluding the maximum and minimum reception levels for each coordinate. An example of the latest radio wave level map 210 input from the radio telescope 200 is shown in FIG. 4A, and an example of the reference level map 220 is shown in FIG. 4B.

  The control device 600 calculates the coordinate position of the flying object 700 based on the latest radio wave level map 210 input from the radio telescope 200 and the reference level map 220 stored in the database 500. When the latest radio wave level map 210 is input from the radio telescope 200, the control device 600 according to the present embodiment has the radio wave reception level in the latest radio wave level map 210 in the coordinate group continuous over a predetermined range. When the received level is lower than 220, it is determined that the flying object 700 is located in the coordinate group. For example, when the radio wave level map 210 in FIG. 4A is input, the control device 600 collates the reference level map 220 in FIG. S), (j, T), (k, T), (l, T), (k, U) are recognized as the observation position (azimuth and elevation angle from the radio telescope) where the flying object 700 was located. To do.

  Then, the control device 600 determines the flight route of the flying object 300 based on the observed observation position of the flying object 700 and the position information (azimuth angle, elevation angle, and distance from the radar) of the flying object 300 input from the radar 400. Is generated on the straight line connecting the flying object 700 and the radio telescope 200 (control information on the flying direction of the flying object) and output to the radar 400.

  Here, when the detection result of infrared rays (azimuth angle and elevation angle from the flying object) emitted from the flying object 700 is input from the flying object 300, the control device 600 detects the detection result of infrared rays (azimuth angle and elevation angle from the flying object). ) To obtain the coordinate position (azimuth angle and elevation angle) of the flying object 700. Then, the control device 600 switches from recognition of the coordinate position (azimuth angle and elevation angle) of the flying object 700 based on the radio wave level map to acquisition of the coordinate position of the flying object 700 based on the infrared detection result, and the infrared detection result and the flight. The flying object guidance information is generated based on the position information (azimuth angle, elevation angle and distance) of the body 300.

  The flying object guidance system 100 configured as described above performs detection using the property of blocking radio waves derived from space even when the detection target is a flying object 700 having a stealth property with extremely low radar radio wave reflectance. be able to. Then, after the flying object 300 is guided to the vicinity of the flying object based on the detection of the flying object by the radio waves derived from the universe, finally, the infrared sensor 310 is used to detect the infrared rays emitted from the flying object. The detection position of the flying object (azimuth angle and elevation angle from the flying object) can be acquired with high accuracy.

  Next, the operation procedure of the flying object guidance system 100 according to the present embodiment will be described. Hereinafter, an operation procedure when the flying object 700 is detected will be described. FIG. 5 shows an operation flow diagram of the flying object guidance system 100 according to the present embodiment, and FIG. 6 shows a state in which the flying object 300 is guided toward the flying object 700 by the radar 400. In FIG. 6, the flying object 300 measured by the radar 400 is indicated by a solid line 300, and an ideal flying object 300 ′ when the flight route coincides with a straight line connecting the flying object 700 and the radio telescope 200 is indicated by a one-dot chain line. It is indicated by 300 ′.

  In FIG. 5, the radio telescope 200 generates a radio wave level map 210 by counting the reception levels of radio waves derived from the universe for each sky coordinate at a fixed period, and the generated radio wave level map 210 is used as the database 500 and the control device 600. (ST201).

  On the other hand, the flying object 300 having the infrared sensor 310 disposed at the tip is flying toward the flying object 700. The flying object 300 monitors infrared rays emitted from the flying object 700 using the infrared sensor 310 (ST301). When the flying object 700 enters the detection range of the infrared sensor 310 and the infrared sensor 310 detects the infrared ray emitted from the flying object 700 (YES in ST302), the infrared detection result is output to the control device 600. (ST303).

  Furthermore, the radar 400 measures the position of the flying object 300 by irradiating the flying object 300 with radio waves and detecting the reflected radio waves, and the measured position information of the flying object 300 (azimuth angle and elevation angle from the radar). And distance) are output to control device 600 (ST401). Here, the radar 400 uses the horizontal distance HD and the vertical distance VD from the radar 400 to the flying object 300 as the position information of the flying object 300, and the flight in a triangle having the radio telescope 200, the radar 400, and the measured flying object 300 as vertices. The horizontal angle Hγ and the vertical angle Vγ with the body 300 as the vertex are output to the control device 600.

  The control device 600 stores the latest radio wave level map 210 input from the radio telescope 200 in ST201 and the database 500 in a situation where no infrared detection result is input from the flying object 300 (NO in ST601). The coordinate position of the flying object 700 is recognized based on the reference level map 220 (ST602). Here, the control device 600 recognizes the horizontal depression angle Hα and the vertical depression angle Vα as the coordinate position of the flying object 700.

  Control apparatus 600 is ideal using the position information (azimuth angle, elevation angle and distance) of flying object 300 input from radar 400 in ST401 and the observation position (azimuth angle and elevation angle from the radio telescope) of flying object 700. Position information (azimuth angle, elevation angle and distance from the radar) of the flying object 300 ′ (the flight route coincides with the straight line connecting the flying object 700 and the radio telescope 200) is calculated (ST604).

The radar 400 calculates a horizontal distance HA and a vertical distance VA from the radar 400 to the ideal flying object 300 ′ as position information of the ideal flying object 300 ′. Here, when the distance between the radio telescope 200 and the radar 400 is the horizontal distance HC and the vertical distance VC, the horizontal distance HA and the vertical distance VA from the radar 400 to the ideal flying object 300 ′ are expressed by the following sine theorem. It is represented by the formula (1). That is,
Horizontal distance HA ÷ sin (horizontal depression angle Hα) = horizontal distance HC ÷ sin (horizontal angle Hγ)
Vertical distance VA ÷ sin (vertical depression angle Vα) = vertical distance VC ÷ sin (vertical angle Vγ) (1) equation Here, the horizontal angle Hγ and the vertical angle Vγ are the position information of the flying object 300 measured by the radar 400 (radar Azimuth angle and elevation angle), horizontal depression angle Hα, and vertical depression angle Vα are observation positions (azimuth angle and elevation angle from the radio telescope) of the flying object 700 certified by the control device 600.

Therefore, the horizontal distance HA and the vertical distance VA from the radar 400 to the ideal flying object 300 ′ are calculated by Expression (2). That is,
Horizontal distance HA = Horizontal distance HC ÷ sin (horizontal angle Hγ) × sin (horizontal depression angle Hα)
Vertical distance VA = Vertical distance VC ÷ sin (vertical angle Vγ) × sin (vertical depression angle Vα) (2) Formula The control device 600 is an ideal flying object 300 calculated by the horizontal distance HD input from the radar 400. If it is larger than the horizontal distance HA up to ', the flying object guidance information for correcting the flight route of the flying object 300 to the left is generated and output to the radar 400. On the other hand, when the horizontal distance HD is smaller than the horizontal distance HA, the flying object guidance information for correcting the flight route of the flying object 300 to the right side is generated and output to the radar 400.

  In addition, when the vertical distance VD input from the radar 400 is larger than the calculated vertical distance VA to the ideal flying object 300 ′, the control device 600 corrects the flying object guidance for correcting the flight route of the flying object 300 upward. Information is generated and output to the radar 400. On the other hand, when the vertical distance VD is smaller than the vertical distance VA, the flying object guidance information for correcting the flying route of the flying object 300 downward is generated and output to the radar 400 (ST605).

  The radar 400 determines the flight direction of the flying object 300 based on the flying object guidance information input from the control device 600 so that the flight route of the flying object 300 coincides with a straight line connecting the flying object 700 and the radio telescope 200. It guides by radio (ST402).

  When the flying object 700 enters the detection range of the infrared sensor 310 of the flying object 300, the infrared sensor 310 detects the infrared ray emitted from the flying object 700 (YES in ST302), and the detection result of the infrared sensor (flight) The azimuth angle and elevation angle from the body are output to control device 600 (ST303).

  Then, when an infrared detection result is input from flying object 300 (YES in ST601), control device 600 has an observation position of flying object 700 based on radio wave level map 210 in ST602 and an infrared signal input from flying object 300. The detection positions of the flying object 700 based on the detected positions (azimuth angle and elevation angle from the flying object) are compared, and it is confirmed that the same flying object 700 is detected. (ST603). In ST604, the control device 600 receives the position information (azimuth angle, elevation angle and distance from the radar) of the flying object 300 input from the radar 400 in ST401, and the coordinate position (from the flying object) of the flying object 700 acquired in ST603. The position information of the ideal flying object 300 ′ is calculated based on the azimuth angle and the elevation angle.

  As described above, the flying object guidance system 100 according to the present embodiment uses the property of blocking radio waves derived from space even when the detection target is a flying object 700 having a stealth property with extremely low radar radio wave reflectance. Can be detected. Further, the flying object 300 is guided to the vicinity of the flying object 700 based on the position information (azimuth angle and elevation angle from the flying object) detected by the radio wave derived from space, and finally, with high accuracy by infrared detection. The position of the flying object 700 (azimuth angle and elevation angle from the flying object) can be acquired.

  In addition, by guiding the flying object 300 toward the flying object 700 and irradiating the flying object 300 with radio waves from the radar 400, it is possible to notify the flying object 700 that the position is grasped. .

  Here, in the above-described embodiment, infrared rays emitted from the flying object 700 are detected by the infrared sensor 310 in order to acquire the position of the flying object with high accuracy. However, the present invention is not limited to this. Instead of applying the flying object 300 on which the infrared sensor 310 is mounted, for example, a flying object on which a laser light sensor is mounted can be applied. FIG. 7 shows a system configuration diagram of the flying object guidance system in this case.

  The flying object guidance system 100B of FIG. 7 makes the flying object 300B equipped with the laser light sensor 320B fly toward the flying object 700B. The control device 600B observes the position of the flying object based on the latest radio wave level map 210B input from the radio telescope 200B and the reference level map 220B stored in the database 500B, and observes the observed position of the flying object 700B ( Based on the measured position information (azimuth angle, elevation angle, and distance from the radar) of the flying object 300B, the flying object 300B is guided in the direction of the flying object 700B.

  When the flying object 700B enters the detection range of the laser light sensor 320B and the laser light sensor 320B detects the laser light reflected from the flying object 700B, the control device 600B detects the flying object based on the radio wave level map 210B. By comparing the observation position (azimuth and elevation angle) of 700B with the detection position of the flying object 700B based on the detection position (azimuth angle, elevation angle and distance from the flying object) of the laser light sensor 320B, the flying object 300B is a radio telescope. Confirm that the observed flying object is being tracked.

  Also in the flying object guidance system 100B of FIG. 7, the observation position (azimuth and elevation angle from the radio telescope) of the flying object 700B with extremely low radar radio wave reflectance is utilized by utilizing the property that the flying object 700B blocks radio waves derived from space. Can be detected. Then, after guiding the flying object 300B to the vicinity of the flying object 700B based on the observation position of the flying object 700B by the radio waves derived from space, the laser reflected from the flying object 700B using the laser light sensor 320B is finally used. By detecting the azimuth angle, elevation angle and distance of light, the detection position (azimuth, elevation angle and distance from the flying object) of the flying object 700B can be acquired with high accuracy.

  The present invention is not limited to the above-described embodiment, and design changes and the like within a range not departing from the gist of the present invention are included in the present invention.

10, 10B Flying object guidance device 20, 20B Position specifying means 21, 21B Radio telescope 22, 22B Database 23, 23B Comparison means 30, 30B Position measurement means 31, 32B Non-radio wave sensor 32B Radio wave reverse detection reception sensor 40, 40B Guiding means 41, 41B Radar 100, 100B Flying object guidance system 200, 200B Radio telescope 210, 210B Radio wave level map 220, 220B Reference level map 300, 300B Flying object 310 Infrared sensor 320B Laser light sensor 400, 400B Radar 500, 500B Database 600, 600B control device 700, 700B flying object

Claims (14)

Position observing means for observing the position of the flying object based on the temporal change in the reception level of radio waves derived from space and outputting the observation position of the flying object (azimuth and elevation angle from the position observing means);
A flying object that outputs a detection position of the flying object (azimuth angle and elevation angle from the flying object or azimuth angle, elevation angle and distance from the flying object) when the position of the flying object can be detected by a non-radio wave sensor;
The position information of the flying object (azimuth angle, elevation angle and distance from the guiding means) is acquired, and the acquired position information of the flying object and the output observation position of the flying object (azimuth angle and elevation angle from the position observation means) ) And a guiding means for guiding the flight route of the flying object to be on a straight line connecting the flying object and the position observing means,
A flying body guidance device comprising: The position observation means includes
A radio telescope that observes radio waves derived from space and outputs a radio wave level map that summarizes the radio wave reception level for each coordinate position in the sky;
A database that holds the output radio wave level map and generates a reference level map by aggregating a plurality of the radio wave level maps;
Comparing means for comparing the latest radio wave level map with the reference level map and outputting coordinates where the reception level is lowered as the observation position of the flying object (azimuth and elevation angle from the radio telescope);
The flying body guiding device according to claim 1, comprising: The flying object guiding apparatus according to claim 2, wherein the radio telescope observes a radio wave having a wavelength of 0.03 to 40 m. The said comparison means outputs this coordinate group as an observation position (azimuth | direction and elevation angle from a radio telescope) of a flying object, when the reception level is falling in the coordinate group of the continuous predetermined range. Flying object guidance device. The non-radio wave sensor is an infrared sensor, and outputs a detection position of the flying object based on a detection position of infrared rays emitted from the flying object (azimuth angle and elevation angle from the flying object). The flying object guiding apparatus according to any one of the preceding claims. The non-radio wave sensor is a laser light sensor, and outputs a detection position of the flying object based on a detection position (azimuth angle, elevation angle and distance from the flying object) of laser light reflected by the flying object. The flying object guiding apparatus according to any one of claims 1 to 4. The guidance means includes a radar that irradiates the flying object with radio waves and acquires position information (azimuth angle, elevation angle and distance from the radar) of the flying object based on the radio waves reflected by the flying object. The flying object guiding apparatus according to any one of 1 to 6. The flying object further includes a GPS sensor, and outputs position information (latitude, longitude, and altitude) of the flying object acquired by the GPS sensor,
The guiding means obtains position information (latitude, longitude and altitude) of the flying object from the flying object;
The flying object guiding apparatus according to any one of claims 1 to 6. The flying object further includes a radio wave reverse detection receiving sensor that detects jamming radio waves emitted from the flying object, and when the radio wave is radiated from the flying object, jamming radio waves detected by the radio wave reverse detection receiving sensor. The flying object guiding apparatus according to claim 1, wherein the flying object detection position (azimuth angle and elevation angle from the flying object) is acquired based on the arrival azimuth angle and elevation angle of the flying object. When the flying object obtains a flying object detection position (azimuth angle and elevation angle from the flying object) by the radio wave reverse detection reception sensor, the flying object interrupts the guidance by the guiding means, and the obtained flying object detection position The flying object guiding apparatus according to claim 9, wherein the flying object guiding device starts independent flight in the direction of the flying object based on (azimuth angle and elevation angle from the flying object). A flying object guidance method for outputting a flying object detection position (azimuth angle and elevation angle from a flying object or azimuth angle, elevation angle and distance from a flying object) when the position of the flying object can be detected by a non-radio wave sensor. ,
Observe the position of the flying object based on the time-dependent change in the reception level of radio waves derived from space, and output the observation position of the flying object (azimuth and elevation angle from the observation point)
The position information (azimuth angle, elevation angle and distance from the acquisition point) of the flying object is acquired, and the flight of the flying object is based on the acquired position information of the flying object and the output observation position of the flying object. route induced to a straight line connecting the said position monitoring means and said flying object,
How to guide the flying object. Observe radio waves derived from space, and output a radio wave level map that summarizes the radio wave reception level for each coordinate position in the sky,
A plurality of the radio wave level maps are aggregated to generate a reference level map,
Compare the latest radio wave level map with the reference level map, and output the coordinates where the reception level is lowered as the observation position of the flying object (azimuth and elevation angle from the observation point).
The flying object guiding method according to claim 11. Irradiating the flying object with radio waves, acquiring position information (azimuth angle, elevation angle and distance from the acquisition point) of the flying object based on the radio waves reflected by the flying object;
Based on the observation position of the flying object and the position information of the flying object, the flying object is guided in the direction of the flying object.
The method for guiding a flying object according to claim 11 or 12. The flying object further includes a radio wave reverse detection receiving sensor that detects an interference radio wave emitted from the flying object,
When jamming radio waves are radiated from the flying object,
The guidance based on the acquired position information (azimuth angle, elevation angle and distance from the acquisition point) and the output observation position (azimuth angle and elevation angle from the observation point) of the flying object is interrupted, and the radio wave A detection position of the flying object (azimuth angle and elevation angle from the flying object) is acquired based on the azimuth angle and elevation angle at which the jamming wave detected by the reverse detection reception sensor arrives, and Let the flying object fly independently toward the flying object,
The flying object guiding method according to any one of claims 11 to 13.

Images