JP5986785B2 - Flying object and flying object guidance method - Google Patents

Description

  The present invention relates to a flying object and a flying object guiding method, and more particularly to a flying object and a flying object guiding method used when tracking a target.

  Flying objects that track the target are known. The flying body is equipped with a control device, a light wave seeker, and a guidance control device. The control device causes the flying object to fly and is controlled by the guidance control device to change the course of the flying object. The light wave seeker creates an image of the target by photographing the target. The guidance control device calculates a target direction in which the target is arranged with respect to the flying object based on the image, and controls the control device so that the flying object tracks the target.

  When such a flying body is flying at a high speed, turbulence of the airflow is generated in the front, and when flying at a supersonic speed, a shock wave is generated in the front. The turbulence and shock wave of the air current may refract the light wave emitted from the target, and may cause optical path distortion in the optical path through which the light wave propagates. When such a flying object has a large degree of optical path distortion, the target orientation may not be calculated properly, and the flying object may not be properly guided. Such a flying body is desired to track the target more reliably and to measure the target direction with higher accuracy during the flight.

  US 2005/0225747 discloses a method for evaluating optical disturbances occurring in a supersonic flow field. The method includes: (a) performing a computational fluid dynamics (CFD) calculation to determine a three-dimensional refractive index in a field outside the rigid body; (b) numerical estimation of optical interference. To obtain at least one ray tracing calculation based on the obtained three-dimensional refractive index.

US Patent Application Publication No. 2005/0225747

An object of the present invention is to provide a flying object and a flying object guiding method for tracking a target with higher accuracy.
Another object of the present invention is to provide a flying object and a flying object guiding method for detecting a target direction in which a target is arranged with higher accuracy.

  In the following, means for solving the problems will be described using the reference numerals used in the modes and examples for carrying out the invention in parentheses. This symbol is added to clarify the correspondence between the description of the claims and the description of the modes and embodiments for carrying out the invention. Do not use to interpret the technical scope.

  The flying object according to the present invention includes a flying object body (1), a seeker (12) for detecting an electromagnetic wave (26) radiated from a target (23), and a sensor mounted on the flying object body (1). (11) and a guidance control device (14). The guidance control device (14) corrects the target azimuth based on the flight direction parameter measured by the target azimuth detection unit (31) that detects the target azimuth based on the electromagnetic wave (26) and the sensor (11). And a target azimuth correction unit (33) for correcting the target azimuth. The electromagnetic wave (26) radiated from the target (23) is refracted by the shock wave 22 generated in front of the flying body (1) when the flying body (1) is flying. An optical path distortion (25) that distorts the path through which (26) propagates may occur. The degree of the optical path distortion (25) varies depending on the situation where the flying body (1) is flying. Such a flying body can detect the target orientation with higher accuracy when the optical path of the electromagnetic wave (26) changes according to the state of the flying body (1). Such a flying object can track the target (23) with higher accuracy by detecting the target orientation with high accuracy.

  The seeker (12) is preferably a lightwave seeker (12) that creates an image based on the electromagnetic wave (26). At this time, the target orientation detection unit (31) detects the target orientation based on the image.

  The target azimuth correction unit (33) refers to the correction function table (41) that associates the plurality of flight status parameters (42) with the plurality of distortion correction values (43), and among the plurality of distortion correction values (43). A distortion correction value corresponding to the flight status parameter is calculated, and a corrected target direction is calculated based on the target direction and the distortion correction value. Such a flying object can correct its target azimuth more easily than other flying objects that correct its target azimuth without using the correction function table (41).

  The flying situation parameter preferably includes the speed at which the flying body (1) flies. The flying state parameter preferably includes the altitude of the flying body (1). The flying state parameter preferably includes the angle of attack of the flying body (1).

  The flying object according to the present invention further includes a control device (15) for changing the course of the flying object body (1). The guidance control device (14) further includes a control unit (34) for controlling the control device (15) based on the corrected target direction so that the flying body main body (1) tracks the target (23). ing. Such a flying object can cause the flying object body (1) to track the target (23) with higher accuracy by detecting the target direction with higher accuracy.

  The flying object guiding method according to the present invention is mounted on a flying object body (1), a seeker (12) for detecting an electromagnetic wave (26) radiated from a target (23), and the flying object body (1). This is executed using a flying object equipped with a sensor (11). The flying object guiding method according to the present invention includes a step of detecting a target azimuth based on electromagnetic waves (26), and correcting the target azimuth to a corrected target azimuth based on flying condition parameters measured by the sensor (11). And a step of performing. The electromagnetic wave (26) radiated from the target (23) is refracted by the shock wave 22 generated in front of the flying body (1) when the flying body (1) is flying. An optical path distortion (25) that distorts the path through which (26) propagates may occur. The degree of the optical path distortion (25) varies depending on the situation where the flying body (1) is flying. Such a flying body guiding method can detect the target orientation with higher accuracy when the optical path of the electromagnetic wave (26) changes according to the state of the flying body (1). Such a flying object guidance method can track the target (23) with higher accuracy by detecting the target orientation with high accuracy.

  The flying object and the flying object guiding method according to the present invention can detect the direction in which the target is arranged with respect to the flying object body with higher accuracy. As a result, the flying object and the flying object guiding method according to the present invention can cause the flying object body to track the target with higher accuracy.

FIG. 1 is a side view showing a flying object according to the present invention. FIG. 2 is a block diagram showing a flying object according to the present invention. FIG. 3 is a cross-sectional view showing the head. FIG. 4 is a block diagram illustrating the guidance control device. FIG. 5 is a diagram showing a correction function table.

  Embodiments of a flying object according to the present invention will be described with reference to the drawings. The flying body includes a flying body body 1 as shown in FIG. The flying body main body 1 is formed of a body part 2 and a head part 3 and is formed in a long shape in a direction parallel to the body axis 5. The trunk | drum 2 is formed from the predetermined | prescribed metal material, and is formed in the column shape. The body part 2 is further formed so that the axis of the cylinder overlaps the body axis 5. The head 3 is made of a predetermined metal material, and has a pointed shape and a rear part that can be attached to the body part 2. The head 3 is further formed so that the tip thereof overlaps the body axis 5.

  The flying object according to the present invention further includes a propulsion device not shown. The propulsion device generates a propulsive force for the flying body 1 to fly. The flying body 1 further includes a main wing. The main wing is arranged on the outer side of the body part 2 of the flying body main body 1, and gives lift to the flying body main body 1 when the flying body main body 1 is flying. Furthermore, when the flying body 1 is flying in the traveling direction 7 so that the angle of attack 6 becomes a predetermined angle, a uniform flow flows in substantially parallel to the traveling direction 7. To do.

  The flying object according to the present invention further includes an inertial measurement device 11, a light wave seeker 12, a guidance control device 14, and a control device 15, as shown in FIG. The inertial measurement device 11 is disposed inside the flying body main body 1 and is controlled by the guidance control device 14 to measure acceleration and angular velocity at which the flying body main body 1 moves. The light wave seeker 12 is arranged inside the flying body main body 1 and is controlled by the guidance control device 14 to photograph a subject placed in front of the flying body main body 1 and create an image of the subject. .

  When the flying body main body 1 is flying, the control device 15 is controlled by the guidance control device 14 to change the traveling direction 7 in which the flying body main body 1 flies to a predetermined direction. The control device 15 includes, for example, a steering blade and a servo device. The steering wing is formed in an airfoil shape and is disposed outside the flying body main body 1. The steering wing is rotatably supported by the flying body 1. The servo device is controlled by the guidance control device 14 to rotate the steering blade so that the traveling direction 7 is parallel to a predetermined direction.

  The head 3 includes a dome 21 as shown in FIG. The dome 21 is formed in a flat plate shape. The dome 21 is arranged so that infrared light emitted from a light source arranged in front of the flying body 1 is transmitted through the dome 21 and infrared light transmitted through the dome 21 is irradiated to the light wave seeker 12. Has been.

  The flying object body 1 generates a shock wave 22 in front of the flying object body 1 when the flying object body 1 flies at supersonic speed. The state of the shock wave 22 differs depending on the situation in which the flying body 1 flies. Infrared rays 24 radiated from the target 23 disposed in front of the flying body 1 are refracted by the shock wave 22. For this reason, the direction in which the refracted refracted light 26 is incident on the light wave seeker 12 may not be parallel to the direction in which the target 23 is arranged with respect to the flying body 1. In other words, the target 23 may not be disposed on the extended line extending from the flying body 1 in the direction in which the refracted light 26 enters the light wave seeker 12. The optical path distortion 25 indicating the direction and degree of refracting the infrared rays 24 into the refracted light 26 varies depending on the state of the shock wave 22, that is, varies depending on the situation where the flying body 1 flies.

  FIG. 4 shows the guidance control device 14. The guidance control device 14 is a computer, and includes a CPU, a storage device, and an interface (not shown). The CPU controls the storage device and the interface by executing a computer program installed in the computer. The storage device records the computer program and temporarily records information created by the CPU.

  The interface outputs information generated by an external device connected to the computer to the CPU, and outputs information generated by the CPU to the external device. The external device includes an inertial measurement device 11, a light wave seeker 12, and a control device 15.

  The computer program installed in the guidance control device 14 is formed of a plurality of computer programs that cause the guidance control device 14 to realize a plurality of functions. The plurality of functions include a target azimuth detecting unit 31, a flying situation parameter detecting unit 32, a target azimuth correcting unit 33, and a control unit 34.

  The target azimuth detecting unit 31 controls the light wave seeker 12 so as to capture the target 23 and create an image of the target 23 while the flying body 1 is flying. The target azimuth detecting unit 31 calculates the target azimuth based on the image created by the lightwave seeker 12. The target azimuth is calculated based on the position where the target 23 appears in the image, and indicates the direction in which the refracted light 26 enters the lightwave seeker 12.

  The flying state parameter detection unit 32 controls the inertial measurement device 11 so that a plurality of accelerations and angular velocities corresponding to a plurality of timings are measured while the flying body main body 1 is flying. The acceleration / angular velocity corresponding to a certain timing among the plurality of accelerations / angular velocities indicates the acceleration / angular velocity at which the flying body 1 moves at that timing. The flying situation parameter detection unit 32 calculates a flying situation parameter based on the plurality of accelerations / angular velocities. The flying state parameter indicates information related to the state in which the flying body 1 is flying, and indicates altitude, speed, and angle of attack. The altitude indicates the altitude of the position where the flying body 1 is flying. The speed indicates the speed at which the flying body 1 flies. The angle of attack indicates the angle of attack at which the flying body 1 flies.

  The target azimuth correction unit 33 calculates a corrected target azimuth based on the target azimuth detected by the target azimuth detection unit 31 and the flight situation parameter calculated by the flight situation parameter detection unit 32. The corrected target direction indicates the direction in which the target 23 is arranged with respect to the flying body 1.

  Based on the corrected target azimuth calculated by the target azimuth correcting unit 33, the control unit 34 controls the control device 15 so that the flying body 1 tracks the target 23.

  FIG. 5 shows a correction function table referred to by the target azimuth correction unit 33. The correction function table 41 associates a plurality of flight status parameters 42 with a plurality of distortion correction values 43. That is, an arbitrary flight situation parameter among the plurality of flight situation parameters 42 corresponds to one distortion correction value of the plurality of distortion correction values 43. Arbitrary flight situation parameters of the plurality of flight situation parameters 42 indicate an altitude 44, a speed 45, and an angle of attack 46. Arbitrary distortion correction values of the plurality of distortion correction values 43 associate a plurality of target orientations with a plurality of corrected target orientations. That is, an arbitrary target azimuth among the plurality of target azimuths corresponds to one corrected target azimuth among the plurality of corrected target azimuths.

  At this time, the target azimuth correction unit 33 refers to the correction function table 41 and calculates a distortion correction value based on the flight situation parameter calculated by the flight situation parameter detection unit 32. The distortion correction value indicates a distortion correction value corresponding to the flight status parameter among the plurality of distortion correction values 43. The target azimuth correction unit 33 further calculates a corrected target azimuth based on the calculated distortion correction value and the target azimuth detected by the target azimuth detection unit 31. The corrected target azimuth indicates a corrected target azimuth corresponding to the target azimuth among a plurality of corrected target azimuths indicated by the calculated distortion correction value.

  In the correction function table 41, the corrected target azimuth calculated by the target azimuth correcting unit 33 based on the analysis result of the wind tunnel test using the model of the flying body main body 1 is the target 23 relative to the flying body main body 1. Created to be equal to the orientation to be placed. The wind tunnel test can be replaced with a numerical analysis using a mathematical model of the flying body 1. The correction function table 41 can also be created by using both the wind tunnel test and numerical analysis.

  The operation of guiding the flying body 1 so as to track the target 23 is executed by the guidance control device 14. When the flying body main body 1 is launched, the guidance control device 14 controls the inertial measurement device 11 to measure the acceleration and angular velocity at which the flying body main body 1 moves at every predetermined sampling period. The guidance control device 14 calculates a flight situation parameter based on the measured acceleration / angular velocity. The flight status parameters indicate altitude, speed and angle of attack. The altitude indicates the altitude of the position where the flying body 1 is flying. The speed indicates the speed at which the flying body 1 flies. The angle of attack indicates the angle of attack at which the flying body 1 flies.

  Further, when reaching the range sufficiently close to the target 23, the guidance control device 14 controls the light wave seeker 12 to photograph the target 23 and create an image in which the target 23 is reflected. The guidance control device 14 calculates a target direction based on the image. The target azimuth is calculated based on the position where the target 23 appears in the image, and indicates the direction in which the refracted light 26 enters the lightwave seeker 12.

  The guidance control device 14 refers to the correction function table 41 and calculates a distortion correction value based on the flight situation parameter calculated by the guidance control device 14. The distortion correction value indicates a distortion correction value corresponding to the flight status parameter among the plurality of distortion correction values 43. The guidance control device 14 further calculates a corrected target orientation based on the calculated distortion correction value and the target orientation detected by the guidance control device 14. The corrected target azimuth indicates a corrected target azimuth corresponding to the target azimuth among a plurality of corrected target azimuths indicated by the calculated distortion correction value. The guidance control device 14 controls the steering device 15 to change the course of the flying body 1 so that the flying body 1 tracks the target 23.

  The infrared rays 24 emitted from the target 23 are refracted by the shock wave 22. According to such a flying object guiding method, the calculated corrected target azimuth is compared to the flying object main body 1 in comparison with the target azimuth calculated based on the image photographed by the light wave seeker 12. The direction in which the target 23 is arranged is shown with higher accuracy. That is, the guidance control device 14 uses the target azimuth calculated based on the image photographed by the light wave seeker 12 without correcting the target orientation as compared with other flying body guidance methods for guiding the flying body 1. The direction in which the target 23 is arranged with respect to the flying body 1 can be detected with higher accuracy. According to such a flying object guidance method, the guidance control device 14 guides the flying object body 1 using the corrected target azimuth after the correction, so that the flying object body 1 has a target 23 more. It can be tracked with high accuracy.

  Note that the distortion correction value can also be calculated based on another flight situation parameter different from the flight situation parameter in the above-described embodiment. For example, when one or two parameters selected from the altitude 44, the speed 45, and the angle of attack 46 are omitted, the guidance controller 14 corrects the parameter when the target orientation is corrected with sufficiently high accuracy. The target direction can be corrected using the flight situation parameter in which is omitted. When the target control is corrected with higher accuracy by adding other parameters different from the altitude 44, the speed 45, and the angle of attack 46, the guidance control device 14 sets the flight status parameter to which the parameters are added. It can be used to correct the target orientation. A flying object to which such flying condition parameters are applied can track the target 23 with higher accuracy in the same manner as the flying object in the above-described embodiment.

  The target azimuth correction unit 33 can be replaced with another target azimuth correction unit that corrects the target azimuth detected by the target azimuth detection unit 31 without using the correction function table 41. The target azimuth correction unit includes a calculation formula for calculating the corrected target azimuth based on the target azimuth and the flight situation parameters. The target azimuth correcting unit calculates the corrected target azimuth by substituting the target azimuth detected by the target azimuth detecting unit 31 and the flying situation parameter calculated by the flying situation parameter detecting unit 32 into the calculation formula. To do. The flying object to which such a target azimuth correction unit is applied has a higher target azimuth in which the target 23 is arranged with respect to the flying object body 1 in the same manner as the flying object in the above-described embodiment. The target 23 can be detected with high accuracy, and the target 23 can be tracked with higher accuracy.

  The inertial measurement device 11 can be replaced with another sensor that measures a physical quantity different from the acceleration / angular velocity. An example of the sensor is a GPS device. The GPS device receives a plurality of radio waves respectively transmitted from a plurality of satellites, and measures the position of the flying body 1 based on the plurality of radio waves. At this time, the flying state parameter detection unit 32 controls the GPS device so that a plurality of positions corresponding to a plurality of timings are measured while the flying body 1 is flying. The position corresponding to a certain timing among the plurality of positions indicates the position of the flying body 1 at that timing. The flying situation parameter detection unit 32 calculates the flying situation parameter based on the plurality of positions. The flying object to which such a sensor is applied detects the target direction in which the target 23 is arranged with respect to the flying object body 1 with higher accuracy in the same manner as the flying object in the above-described embodiment. The target 23 can be tracked with higher accuracy.

  The light wave seeker 12 can be replaced with another seeker that detects other electromagnetic waves different from the infrared rays 24. An example of the seeker is a radio wave seeker that detects radio waves radiated from the target 23. The radio wave seeker includes a plurality of antennas, and detects a direction in which the target 23 is arranged with respect to the flying body 1 based on a plurality of times at which the radio waves are received by the plurality of antennas. The radio wave is refracted by the shock wave 22 in the same manner as the infrared ray 24. For this reason, the flying object to which such a radio wave seeker is applied has a target orientation in which the target 23 is arranged with respect to the flying object body 1 in the same manner as the flying object in the above-described embodiment. It can be detected with high accuracy, and the target 23 can be tracked with higher accuracy.

  The guidance control device 14 can be replaced with a plurality of hardware devices. The plurality of hardware devices execute the same operations as the target azimuth detecting unit 31, the flying state parameter detecting unit 32, the target azimuth correcting unit 33, and the control unit 34, respectively. In the flying object to which such a plurality of hardware devices are applied, the target direction in which the target 23 is arranged with respect to the flying object main body 1 is more similar to the flying object in the above-described embodiment. It can be detected with high accuracy, and the target 23 can be tracked with higher accuracy.

1: Flying body body 2: Body part 3: Head part 5: Airframe axis 6: Angle of attack 7: Direction of travel 11: Inertial measuring device 12: Light wave seeker 14: Guidance control device 15: Control device 21: Dome 22: Shock wave 23: Target 24: Infrared 25: Optical path distortion 26: Refraction light 31: Target azimuth detection unit 32: Flying state parameter detection unit 33: Target azimuth correction unit 34: Control unit 41: Correction function table 42: Multiple flight situations Parameter 43: Multiple distortion correction values 44: Altitude 45: Speed 46: Angle of attack

Claims (7)

The flying body,
A seeker to detect electromagnetic waves radiated from the target;
A sensor mounted on the flying body,
A guidance control device,
The guidance control device includes:
A target orientation detection unit for detecting a target orientation based on the electromagnetic wave;
A flying object comprising: a target azimuth correcting unit that corrects the target azimuth to a corrected target azimuth based on flying condition parameters measured by the sensor and including a speed of the flying object main body. The flying body,
A seeker to detect electromagnetic waves radiated from the target;
A sensor mounted on the flying body,
With guidance controller
Comprising
The guidance control device includes:
A target orientation detection unit for detecting a target orientation based on the electromagnetic wave;
A target azimuth correction unit that corrects the target azimuth to a post-correction target azimuth based on the flying state parameters including the altitude of the flying body main body measured by the sensor;
With
Flying body. The flying body,
A seeker to detect electromagnetic waves radiated from the target;
A sensor mounted on the flying body,
With guidance controller
Comprising
The guidance control device includes:
A target orientation detection unit for detecting a target orientation based on the electromagnetic wave;
A target azimuth correction unit that corrects the target azimuth to a target azimuth after correction based on flying condition parameters including the angle of attack of the flying body that is measured by the sensor;
With
Flying body. The flying body,
A seeker to detect electromagnetic waves radiated from the target;
A sensor mounted on the flying body,
With guidance controller
Comprising
The guidance control device includes:
A target orientation detection unit for detecting a target orientation based on the electromagnetic wave;
A target azimuth correction unit that corrects the target azimuth to a corrected target azimuth based on flight condition parameters measured by the sensor;
Comprising
The target azimuth correction unit refers to a correction function table that associates a plurality of flight situation parameters with a plurality of distortion correction values, and calculates a distortion correction value corresponding to the flight situation parameter among the plurality of distortion correction values. The flying object that calculates and calculates the corrected target azimuth based on the target azimuth and the distortion correction value. In any one of Claims 1 thru | or 4 ,
The seeker creates an image based on the electromagnetic wave,
The target orientation detection unit detects the target orientation based on the image. In any one of Claims 1 thru | or 5 ,
Further comprising a control device for changing the course of the flying body,
The said guidance control apparatus is further provided with the control part which controls the said control apparatus based on the said corrected target azimuth | direction so that the said flying body main body may track the said target. The flying body,
A seeker to detect electromagnetic waves radiated from the target;
A flying object guidance method executed using a flying object comprising a sensor mounted on the flying object body;
Detecting a target orientation based on the electromagnetic wave;
A step of correcting the target azimuth to a corrected target azimuth based on a flying situation parameter measured by the sensor and including at least one of speed, altitude, and angle of attack of the flying body. Body guidance method.

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