JP7247033B2 - Guidance system, guidance device and method - Google Patents

Description

TECHNICAL FIELD Embodiments of the present invention relate to guidance systems, guidance devices, and methods for flying objects.

Conventionally, various methods have been developed for guidance systems that use radio waves to detect and track flying objects. In the guidance system, a flying object equipped with a guidance device and a guidance device (illuminator) installed on the ground or the like cooperate to guide the flying object.

In the active radar homing guidance system, the flying object is equipped with a radar, and the radar transmits (irradiates) radio waves to detect the target based on the reflected radio waves from the target. In this active system, guidance can be initiated by the projectile, but in order to adapt to the diversification of targets to be dealt with and changes in the situation after launch, the projectile must be highly functional. Specifically, flying objects inevitably increase in price due to the increased functionality due to the mounting of compact and high-performance radars and the like. In recent years, especially at close range, where the primary target is low-cost drones and the like, the cost-effectiveness can be significantly worse.

Japanese Patent No. 3707923 JP-A-8-338698

A solution to the active situation is to employ a semi-active radar homing guidance system. In the semi-active method, the radio wave transmission (radio wave irradiation) from the radar is handled by the guidance device (illuminator), so the function of radio wave transmission from the flying object can be reduced. Low price can be realized. However, simply adopting the semi-active method cannot realize a guidance system with high adaptability to diversifying targets.

Therefore, it is an object of the present invention to provide a guidance system having a high adaptability to diversifying targets by achieving a cost reduction of the flying object and a high performance of the guidance device.

The guidance system of this embodiment includes a flying object that uses radio waves to track a target, and a guidance device that transmits irradiation radio waves for guiding the flying object to the target. The guidance device includes means for receiving a first reflected radio wave from the target and a second reflected radio wave from the flying object with respect to the irradiated radio wave, Means for observing the object and the target, and means for transmitting an irradiation radio wave including instruction information for guiding the flying object to the target based on the observation results for the flying object and the target. The guidance device intermittently performs observation processing of the flying object and one of a plurality of targets, and switches the target to guide the flying object based on the observation result of the observation processing. The plurality of goals includes a first goal and a second goal. The guidance device intermittently executes observation processing of the flying object and the second target, and based on the observation result of the observation processing, the priority of the second target is set to that of the first target. When it is determined that the flying object needs to be homed to the second target, the carrier frequency used in the guidance mode to the first target is higher than the priority, and the first target is selected. to the second target.

The block diagram which shows the structure of the guidance system regarding embodiment. 1 is a block diagram showing the configuration of a guidance device and a guidance control device for a flying object according to the embodiment; FIG. FIG. 2 is a block diagram for explaining processing of a guidance device and a flying object according to the embodiment; The figure which shows the state of an emitted radio wave and a reflected radio wave corresponding to the observation form of the guidance system regarding embodiment. The figure which shows the state of an emitted radio wave and a reflected radio wave corresponding to the guidance form of the guidance system regarding embodiment. The figure which shows the state of an emitted radio wave and a reflected radio wave corresponding to the command form of the guidance system regarding embodiment. The figure which shows an example of the receiving process of an emitted radio wave of the guidance system regarding embodiment, and a reflected radio wave. 4 is a flowchart for explaining processing of a flying object signal processing unit according to the embodiment; The figure which shows the time-sequential operation|movement of the guidance system regarding embodiment. The figure which shows the time-sequential operation|movement of the guidance apparatus regarding embodiment. The figure for demonstrating the 1st modification of embodiment. The figure for demonstrating the 2nd modification of embodiment.

Embodiments will be described below with reference to the drawings.
[Guidance system configuration]
FIG. 1 is a block diagram showing the configuration of the guidance system of this embodiment. As shown in FIG. 1, the guidance system comprises a flying object 1 that flies in space toward a target 7 and a guidance device 6 that is installed on the ground, for example. The guidance device 6 corresponds to an illuminator in a semi-active guidance system.

A flying object 1 is equipped with a guidance control device 2 , a warhead 3 , a propulsion device 4 and a steering device 5 . As will be described later, the guidance control device 2 guides the projectile 1 to the target 7 and executes various controls to detonate the warhead 3 in cooperation with the guidance device 6 . The propulsion device 4 is a propulsion mechanism for causing the flying object 1 to fly. The steering device 5 controls the flight of the projectile 1 according to the steering signal for guiding (homing) to the target 7 calculated by the guidance control device 2 .

The guidance device 6 is equipped with a radar, and radiates radio waves 10 from the radar toward the flying object 1 and the target 7 in flight. The flying object 1 receives reflected radio waves 12 reflected from the target 7 and also directly receives irradiation radio waves 10 from the guidance device 6 . The flying object 1 uses the radiated radio wave 10 from the guidance device 6 to detect the reflected radio wave 12 from the target 7 and the like.

In parallel with the flying object 1 , the guidance device 6 receives reflected radio waves 13 reflected from the target 7 and receives reflected radio waves 14 reflected from the flying object 1 . The guidance device 6 processes the received reflected radio waves 13 and 14 and observes the relative position, relative velocity, etc. between the flying object 1 and the target 7 . Further, the guidance device 6 irradiates the flying object 1 with an irradiation radio wave 11 on which command information (to be described later) for the flying object 1 is superimposed. At this time, the flying object 1 constantly determines whether or not the radio wave received from the guidance device 6 is the radio wave 11 including the command information based on the specific code or the like included in the command information. When the radio wave received from the guidance device 6 is the irradiation radio wave 11, the guidance control device 2 of the flying object 1 demodulates the superimposed command information and executes various processes corresponding to the command information.

FIG. 2 is a block diagram showing the configuration of the guidance device 6 and the guidance control device 2 for the flying object 1. As shown in FIG. As shown in FIG. 2 , the guidance device 6 is roughly divided into a radio wave transmission/reception system 20 and a signal processing system 27 . The radio wave transmission/reception system 20 includes an information modulator 21, a spreading modulator 22, a specific modulator 23, an irradiation switcher 24, a transmission frequency converter 25, a reception frequency converter 26, a transmission antenna 29A and a reception antenna 29B.

In the guidance device 6, when the operation mode is, for example, the "command mode", that is, when the irradiation radio wave 11 containing the command information is sent to issue a command to the flying object 1, the signal processor 28 of the signal processing system 27 outputs command information and switching instructions.

In the radio wave transmission/reception system 20 , the irradiation switcher 24 performs switching to the (command) side in accordance with a switching instruction from the signal processor 28 . On the other hand, the information modulator 21 performs digital modulation such as FSK (frequency shift keying) on the command information output from the signal processor 28 and outputs the modulated information to the spreading modulator 22 . Spreading modulator 22 performs modulation with spreading codes. Furthermore, the radio wave transmission/reception system 20 passes through the irradiation switcher 24, converts the carrier frequency to a predetermined frequency by the transmission frequency converter 25, and radiates the irradiation radio wave 11 on which the command information is superimposed from the transmission antenna 29A into space.

On the other hand, the guidance control device 2 for the flying object 1 includes a rear antenna 30, a front antenna 31, a high frequency processing section 32, a monopulse synthesizer 33, and a signal processing section . In the flying object 1 , the radio waves 11 emitted from the guidance device 6 are constantly received by the rear antenna 30 and processed by the high-frequency processing unit 32 . The high-frequency processing unit 32 includes a frequency converter 35, a spreading demodulator 36, and an information demodulator 37, and demodulates received information from the received irradiation radio wave 11. FIG. The information demodulator 37 demodulates the command information and outputs it to the signal processing unit 34 when the spread demodulator 36 demodulates that there is command determination.

The guidance control device 2 of the flying object 1 receives the radio waves 10 emitted from the guidance device 6 and the radio waves 12 reflected from the target 7 via the front antenna 31 . The monopulse synthesizer 33 generates a Σ-system (combined) received signal and a Δ-system (error ) to generate the received signal. The high-frequency processing unit 32 includes a synchronous detector (Σ system) 38 and a synchronous detector (Δ system) 39, performs synchronous detection using the irradiated radio wave 10, and outputs Σ detection signals and Δ detection signals to the signal processing unit 34. output to The signal processing unit 34 uses the Σ detection signal and the Δ detection signal to calculate a steering signal for homing (guiding) the flying object 1 to the target 7 and outputs the steering signal to the steering device 5 .

On the other hand, in the guidance device 6, when the operation mode is, for example, the "observation mode" or the "guidance mode", that is, when the irradiation radio wave 10 is transmitted, the signal processor 28 of the signal processing system 27 sends a switching instruction to the irradiation switcher. 24. In the radio wave transmitting/receiving system 20 , the irradiation switcher 24 performs switching to the (observation or guidance) side in accordance with a switching instruction from the signal processor 28 . In this case, the specific modulator 23 generates a continuous transmission wave, for example called a stepped FM (stepped frequency modulation) waveform. The radio wave transmitting/receiving system 20 radiates the continuous transmission wave as the irradiation radio wave 10 into space via the irradiation switcher 24, the transmission frequency converter 25 and the transmission antenna 29A.

When the operation mode is the "observation mode", the guidance device 6 transmits the radio waves 10 to the flying object 1 and the target 7 from the transmission antenna 29A, and receives the reflected radio waves 13 and 14 from the respective antennas. 29B. The signal processor 28 inputs the received reflected radio waves 13 and 14 via the reception frequency converter 26 and executes observation processing for observing the positions, velocities, etc. of the flying object 1 and the target 7 . In addition, when the operation mode is the "guidance mode", the guidance device 6 transmits the irradiation radio wave 10 from the transmission antenna 29A toward the flying object 1 and the target 7, and performs guidance processing as described later.
[Guidance system operation]
The operation and effect of the guidance system of this embodiment will be described below with reference to FIGS. 3 to 10. FIG. FIG. 3 is a block diagram for explaining the processing executed by the guidance device 6 and the flying object 1. As shown in FIG. 4 to 6 are diagrams showing the states of irradiated radio waves and reflected radio waves corresponding to the operating modes of the guidance system. FIG. 7 is a diagram showing an example of an emitted radio wave of a guidance system and an example of a reception process of a reflected radio wave.

First, with reference to FIGS. 3, 4 and 7, a case where the operation mode of the guidance system is the "observation mode" will be described. As shown in FIG. 3, in the "observation mode", the guidance device 6 causes the signal processing system 27 to execute the observation irradiation instruction, and transmits the irradiation radio wave 10 toward the flying object 1 and the target 7 (300, FIG. 4). ). Specifically, the signal processor 28 outputs a switching instruction to the irradiation switcher 24 . In the radio wave transmitting/receiving system 20, the irradiation switcher 24 performs switching to the observation side according to the switching instruction from the signal processor 28 (200). As shown in FIG. 4 , the guidance device 6 receives reflected radio waves 13 and 14 from the target 7 and the flying object 1 .

Specifically, as shown in FIG. 3, the radio wave transmission/reception system 20 receives the reflected radio wave 13 from the target 7 via the receiving antenna 29B (201). The signal processor 28 inputs the received reflected radio wave 13 and executes observation processing for observing the position, speed, etc. of the target 7 (301). Further, the signal processor 28 executes predetermined launch specification calculations based on the observation processing results, and sends the calculation results to the flying object 1 . The projectile 1 receives the calculation result (100), and launches and flies according to the launch command sent from the signal processor 28 (101).

The guidance device 6 sends out an irradiation radio wave 10 toward the launched flying object 1 and the target 7 (304, 202). The radio wave transmission/reception system 20 receives the reflected radio waves 13 and 14 from the target 7 and the flying object 1 via the receiving antenna 29B (203). The signal processor 28 inputs the received reflected radio waves 13 and 14 and executes observation processing for observing the positions, velocities, etc. of the flying object 1 and the target 7 (305).

Here, as shown in FIG. 7, when the operation mode is the "observation mode" or the "guidance mode", the guidance device 6 uses the specific modulator 23 of the radio wave transmitting/receiving system 20 to generate the aforementioned stepped FM waveform and Generates a continuous transmission wave called The radio wave transmitting/receiving system 20 radiates the continuous transmission wave into space via the transmitting antenna 29A as the irradiation radio wave 10 . This makes it possible to realize target detection processing with high range resolution in the observation processing in the guidance device 6 and the homing processing to the target 7 in the flying object 1 .

As shown in FIG. 7(A), the guiding device 6 transmits the continuous transmission wave as the irradiation radio wave 10 . As shown in FIG. 7(B), the guidance device 6 receives continuously received waves as the reflected radio waves 13 from the target 7, and the signal processor 28 executes observation processing for observing the position, speed, etc. of the target 7. do. On the other hand, as shown in FIG. 7(C), the flying object 1 receives radio waves (continuously transmitted waves) 10 emitted from the guidance device 6 and reflected radio waves (continuously received waves) 12 from the target 7 . Based on the emitted radio wave 10 and the reflected radio wave 12, the flying object 1 obtains the Σ-system (composite) received signal and the Δ-system (error ) to generate the received signal. Furthermore, the flying object 1 performs synchronous detection using the irradiated radio wave 10, and performs FFT (Fast Fourier Transform) processing (target velocity detection) and An inverse FFT (band synthesis) process is performed to calculate the Σ detection signal and the Δ detection signal. The signal processing unit 34 uses the Σ detection signal and the Δ detection signal to calculate a steering signal based on the range profile (distance to the target indicated by dots) for homing (guiding) the projectile 1 to the target 7. and output to the steering device 5.

As shown in FIGS. 3 and 4, in the "observation mode", the guidance device 6 sends out an irradiation radio wave 10 toward the flying object 1 and the target 7, receives received reflected radio waves 13 and 14, and Observation processing for observing the relative positions and relative velocities of 1 and target 7 is executed (305). In this case, the flying object 1 outputs a command determination of "none" in the spread demodulator 36 and does not execute any particular control operation.

As shown in FIG. 3, in the guidance device 6, the signal processor 28 executes various determination processes based on observation results such as relative positions and relative velocities between the flying object 1 and the target 7 (306). The determination processing includes meeting route determination processing, guidance start determination processing, and approach determination processing.

The meeting path determination process calculates the expected meeting point between the projectile 1 and the target 7 based on the current observation result (305), and compares it with the expected meeting point at the time of launch. The signal processor 28 determines that the route of the flying object 1 needs to be changed when the comparison result deviates by more than a specified condition (distance, angle), and issues a route change command (steering change command). Send (307). The radio wave transmission/reception system 20 transmits the irradiation radio wave 11 including the steering change command from the transmission antenna 29A to the flying object 1 (204). When the flying object 1 receives the steering change command (102), it changes the steering pattern (103).

In the guidance start determination process, it is determined whether or not the flying object 1 has reached the guidance start point (308). When the signal processor 28 determines that the flying object 1 has reached the point where guidance is to be started, the signal processor 28 sends out a guidance start command (309). The radio wave transmission/reception system 20 transmits the irradiation radio wave 11 including the guidance start command from the transmission antenna 29A to the flying object 1 (205). When the flying object 1 receives the guidance start command (104), the flying object 1 determines that the operation mode is the "guidance mode".

As shown in FIGS. 3 and 5, in the "guidance mode", the guidance device 6 sends out the irradiation radio waves 10 toward the flying object 1 and the target 7 (310, 206). The radio wave transmission/reception system 20 receives the reflected radio waves 13 and 14 from the target 7 and the flying object 1 via the receiving antenna 29B (207). The signal processor 28 inputs the received reflected radio waves 13 and 14 and executes observation processing for observing the positions, velocities, etc. of the flying object 1 and the target 7 (311).

Here, when the guidance start command is sent from the guidance device 6 (310), the flying object 1 is judged to be in the guidance mode (104), the reflected radio wave 12 from the target 7 and the irradiation radio wave 10 from the guidance device 6 (105, 106). Specifically, the flying object 1 executes synchronous detection processing (generation of Σ detection signal and Δ detection signal) and target detection processing (angle measurement processing of the target 7) based on the emitted radio wave 10 and the reflected radio wave 12. , calculates a steering signal for homing (guiding) to the target 7 and outputs it to the steering device 5 (107).

In the approach determination process, based on the current observation result (311), the closest distance is calculated from the relative position and relative speed of the projectile 1 and the target 7. (312). When the signal processor 28 determines that the closest approach distance of the flying object 1 is equal to or greater than the specified distance, the signal processor 28 calculates the ignition timer time for the flying object 1 and sends out a proximity ignition command (313). The radio wave transmission/reception system 20 transmits the irradiation radio wave 11 including the proximity detonation command from the transmission antenna 29A to the flying object 1 (208).

When the flying object 1 receives the proximity detonation command (108), it stops the operation up to that point and determines that the operation mode is the "command mode". That is, the flying object 1 sets the received information (detonation timer operating time) by the proximity detonation command to the warhead 3 and maintains the flight state as it is until the warhead detonation (109) (the output of the signal processing unit 34 in FIG. 2 is reference).

As shown in FIG. 6 , in the “command form”, the guidance device 6 transmits an irradiation radio wave 11 superimposed with command information toward the flying object 1 . The flying object 1 constantly receives the radio wave 11 emitted from the guidance device 6 at the rear antenna 30 and demodulates the received information from the received radio wave 11 . The flying object 1 demodulates the command information when it is demodulated that there is command determination, and executes processing corresponding to the command information.

FIG. 8 is a flow chart showing the processing of the signal processing unit 34 of the flying object 1. As shown in FIG. As shown in FIG. 8, the signal processing unit 34 of the flying object 1 determines whether or not the detonation flag of the warhead 3 is ON based on command information included in the radio waves 11 emitted from the guidance device 6 (S1). When the detonation flag is ON (YES in S1), the signal processing unit 34 outputs an activation signal of the detonation timer to the warhead 3 (S19).

On the other hand, when the detonation flag is OFF (NO in S1), the signal processing unit 34 inputs a command determination (S2). When there is no command determination and command information is not received (NO in S3), the signal processing unit 34 determines whether or not the guidance flag is ON (S12). Here, when the flying object 1 receives the command information (YES in S3) and determines that the command information is a guidance start command (S5), it determines that the movement mode is the "guidance mode." Based on this determination, the signal processing unit 34 sets the guidance flag to ON (S8).

If the guidance flag is ON (YES in S12), the signal processing unit 34 inputs the Σ detection signal and the Δ detection signal (S15) as described above, and calculates the guidance signal including angle measurement processing of the target 7. Calculation processing is executed (S16). Further, the signal processing unit 34 executes steering command calculation for calculating a steering signal for homing (guidance) to the target 7 based on the guidance signal (S17), and outputs the steering signal to the steering device 5 (S18). ).

When the flying object 1 receives command information (YES in S3) and determines that the command information is a route change command (S5), it acquires a steering pattern as steering information (S9). The signal processing unit 34 changes the steering pattern based on the route change command from the guidance device 6 (S10), and sets the guidance flag to OFF (S11). As a result, if the guidance flag is OFF (NO in S12), the signal processing unit 34 uses the steering pattern changed based on the steering change command from the guidance device 6 to calculate the steering command. is executed (S13), and a steering signal is output to the steering device 5 (S14).

When the signal processing unit 34 receives the proximity detonation command as the command information (S5), it stops the operation up to that point and acquires the detonation time as the detonation information (S6). The signal processing unit 34 sets the detonation flag to ON. As described above, when the detonation flag is ON (YES in S1), the signal processing unit 34 outputs the detonation timer activation signal (detonation timer activation time) to the warhead 3 (S19). The projectile 1 maintains its flight state until the warhead detonates (see FIG. 9).

9 and 10 are diagrams showing the operations of the guidance system and the guidance device 6 in chronological order, respectively. As shown in FIG. 9 , the guidance device 6 executes radio wave irradiation in the “observation mode” in a period after launching the flying object 1 and before homing (before the guidance operation). That is, the guidance device 6 sends out the irradiation radio wave 10 and executes observation processing for observing the relative speed and relative distance between the flying object 1 and the target 7 . This observation process may be either continuous or intermittent.

The guidance device 6 determines the meeting route based on the observation results, and when it determines that the meeting point changes significantly, it performs radio wave irradiation in the “command form”. That is, the guidance device 6 sends out an irradiation radio wave 11 superimposed with a steering change command (including steering pattern information) for changing the course toward the flying object 1 . Upon receiving the radio wave 11 emitted from the guidance device 6, the flying object 1 determines that "command present" and demodulates the steering change command (steering pattern information). In response to the steering change command, the flying object 1 flies toward the new meeting point based on the updated steering pattern information.

Next, the guidance device 6 executes guidance start determination, and determines whether or not the flying object 1 has reached the guidance start point. That is, at the expected time of arrival, the guidance device 6 emits radio waves 11 superimposed with radio wave irradiation in the "command form" and a guidance start command. Upon receiving the guidance start command, the flying object 1 determines that the operation mode is the "guidance mode", and shifts to homing.

After sending the guidance start command, the guidance device 6 continues to radiate the radio waves 10 in the “guidance mode”. On the other hand, after confirming the reception of the guidance start command, the flying object 1 starts reflected wave detection processing by synchronous detection of the reflected radio wave 12 from the target 7 and the irradiation radio wave 10 from the guidance device 6, and issues a new command. Continue the process until it is received. This realizes homing of the flying object 1 to the target 7 (homing period). During this homing period, the guidance device 6 continues to receive the reflected radio waves 14 from the flying object 1 and the reflected radio waves 13 from the target 7 in response to the irradiation of the irradiation radio waves 10, and executes observation processing in parallel as an "observation mode". do.

As described above, during the homing period, the guidance device 6 realizes the homing of the flying object 1 to the target 7 while continuing the observation processing of the target 7 and the flying object 1 . Therefore, the flying object 1 continues guided flight (homing) to the target 7 . The guidance device 6 executes approach determination processing, and if it determines that the closest distance of the flying object 1 is greater than or equal to a specified distance, it determines that a direct hit to the target 7 is difficult, and sends a proximity detonation command. That is, the guidance device 6 sends out the irradiation radio wave 11 superimposed with the proximity detonation command including the detonation timer time.

On the other hand, when the flying object 1 receives the proximity detonation command from the guidance device 6, it sets the detonation timer activation time to the warhead 3, and detonates the warhead at that timing. As a result, detonation of the warhead 3 can be realized at the point where the projectile 1 and the target 7 are expected to come closest to each other.

As shown in FIG. 10, the guidance device 6 executes the approach determination process, and when it determines that the closest distance of the flying object 1 is less than the specified distance, it does not send a proximity detonation command, but directly hits ( (400).

As described above, according to the guidance system of the present embodiment, it is possible to apply the semi-active method in which the guidance device (illuminator) is responsible for radio wave irradiation from the radar, and to realize high functionality of the guidance device. As a result, the cost of the flying object can be reduced, and a guidance system having high adaptability to diversifying targets can be realized.

Specifically, since the function of emitting radio waves from the flying object can be reduced, it is possible to eliminate the need to mount a high-performance radar and reduce the cost of the flying object. Furthermore, the autonomous determination function, the target conversion determination function (overkill avoidance function, etc.), and the direct hit determination function can be deleted from the guidance control device of the flying object. In addition, since the guidance device is highly functional, it is possible to realize a command form that sends a proximity detonation command, so the proximity detection device can be eliminated from the flying object. Also, a dedicated communication device can be eliminated from the flying object.

Note that the guidance device of the present embodiment may be a ground device installed on the ground, or may be a mounted device mounted on a ship or the like.
[First modification]
FIGS. 11A and 11B are diagrams relating to a first modification of the present embodiment. Also in this modified example, the basic configuration and operation of the guidance system of this embodiment are the same, so description thereof will be omitted.

As shown in FIG. 11(A), in this modified example, during the operation (homing #1) of the initial target #1 (7#1) in the “guidance mode”, the guidance device 6 intermittently Observation processing 501 for target #2 (7#2) is possible. Here, when the guidance device 6 observes another target #2, the carrier frequency and the like are different, so the flying object 1 cannot observe the reflected radio wave from the target #1, and the observation result (500 ) is not obtained, the current flight direction is continued. That is, the flying object 1 continues homing #1 to target #1.

On the other hand, if the guidance device 6 determines that, for example, the priority of the target #2 is high based on the observation result for the target #2 and that the flying object 1 needs to homing #2 to the target #2, The carrier frequency used in the guidance mode to target #1 is switched from irradiation of target #1 to irradiation of target #2 (change of irradiation direction). As a result, the flying object 1 can transition from homing #1 toward target #1 to homing #2 toward target #2 without interrupting its operation. Such conversion to a homing target is effective when target #1 is defeated by another projectile, and overkill can be avoided.

Here, as shown in FIG. 11(B), the guidance device 6 is not a ground device, but a mounted device mounted on a vehicle, for example, and may be movable. The guidance device 6 shifts to homing #2 based on the reflected radio wave #2 from another target 7#2 during the initial homing #1 based on the reflected radio wave #1 from the target 7#1. .
[Second modification]
FIGS. 12A and 12B are diagrams relating to a second modification of the present embodiment. Also in this modified example, the basic configuration and operation of the guidance system of this embodiment are the same, so description thereof will be omitted.

As shown in FIG. 12(A), in this modification, the guidance device 6 intermittently directs the target group without executing the “guidance mode” radio wave irradiation after launching the flying object 1 in a specific target direction. The observation processing of 7#1 to 7#3 is continued. The guidance device 6 sends out predetermined steering information to cause the flying object 1 to fly. Furthermore, when it is observed that the target density is high, the guidance device 6 does not execute the "guidance mode" to a specific target, and emits radio waves 11 that emit a steering change command so as to take a flight path to a group of targets. be included in the After that, the guidance device 6 transmits an irradiation radio wave 11 including a proximity detonation command based on the determination that the flying object 1 is approaching the target group (near the center of the high density).

That is, as shown in FIG. 12(B), when the flying object 1 receives the irradiation radio wave 11 including the proximity detonation command from the guidance device 6, the flying object 1 moves toward the center 600 of the highly dense target groups 7#1 to 7#3. , performs the detonation of warhead 3. According to this modification, it is also possible to deal with multiple targets 7#1 to 7#3 with high density by detonating warheads.

While several embodiments of the invention have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.

DESCRIPTION OF SYMBOLS 1... Missile, 2... Guidance control device, 3... Warhead, 4... Propulsion device, 5... Steering device,
6 Guidance device 7 Target 20 Radio wave transmission/reception system 21 Information modulator
22... diffusion modulator, 23... specific modulator, 24... irradiation switch,
25... transmission frequency converter, 26... reception frequency converter, 27... signal processing system,
29A...transmitting antenna, 29B...receiving antenna, 30...rear antenna 30,
31... front antenna, 32... high frequency processing unit, 33... monopulse synthesizer,
34... signal processor, 35... frequency converter, 36... spread demodulator, 37... information demodulator,
38... Synchronous detector (Σ system), 39... Synchronous detector (Δ system).

Claims (13)

a projectile that uses radio waves to track a target;
A guidance system comprising a guidance device for transmitting a first irradiation radio wave for guiding the flying object to the target,
The guidance device is
means for receiving a first reflected radio wave from the target and a second reflected radio wave from the flying object with respect to the first irradiated radio wave;
Means for observing the flying object and the target based on the first and second reflected radio waves; and Guiding the flying object to the target based on observation results for the flying object and the target. and means for transmitting a second irradiation radio wave containing the command information of
The guidance device is
intermittently performing observation processing of the projectile and one of a plurality of targets;
switching the target to be guided to the flying object based on the observation result of the observation process;
The plurality of goals includes a first goal and a second goal;
The guidance device is
intermittently performing observation processing of the projectile and the second target;
When it is determined that the priority of the second target is higher than the priority of the first target and that the projectile needs to hom to the second target based on the observation result of the observation process switches from irradiating said first target to irradiating said second target at the carrier frequency used in the guidance mode to said first target;
guidance system. The guidance device is
2. The guidance system according to claim 1, wherein said second irradiation radio wave including instruction information for instructing said flying object to process said target is transmitted. The flying object is
receiving the first reflected radio wave from the target based on the first radiated radio wave emitted from the guidance device;
detecting the first reflected radio wave using the first irradiated radio wave;
detecting the target based on the first reflected radio wave and executing a guidance operation;
A guidance system according to claim 1 . The guidance device transmits a continuous transmission wave as the first irradiation radio wave during observation processing for observing the flying object and the target,
When the flying object detects the target based on the first reflected radio waves and performs a guidance operation, the flying object receives continuous reception waves based on the continuous transmission waves from the target as the first reflected radio waves. The guidance system according to claim 1 or 3, wherein The guidance device is
2. When said flying object reaches a point at which guidance is to be started while said flying object is flying toward said target, said second irradiation radio wave including a guidance start command is sent to said flying object. 5. Guidance system according to any one of claims 1 to 4. The flying object is
receiving the second irradiation radio wave from the guidance device;
6. The guidance system according to claim 5, wherein when the guidance start command is demodulated from the second irradiation radio wave, a guidance operation is performed toward the target. The guidance device is
After transmitting the second irradiation radio wave including a guidance start command to the flying object, continuing the irradiation of the first irradiation radio wave,
7. The guidance system according to claim 5, wherein observation processing for observing said flying object and said target is continued in parallel with continuation of the guidance operation of said flying object. The guidance device is
3. When the closest distance of approach of the flying object is equal to or greater than a specified distance during guidance operation of the flying object to the target, the second irradiation radio wave including a proximity detonation command is sent to the flying object. 8. Guidance system according to any one of paragraphs 1 to 7. The flying object is
9. The guidance system according to claim 8, wherein predetermined processing is performed based on receipt of said proximity detonation command from said guidance device. The guidance device is
9. The method according to any one of claims 2 to 8, wherein the guiding operation of the flying object is continued if the closest distance of approach of the flying object is less than a specified value during the guiding operation of the flying object toward the target. guidance system. The guidance device is
executing observation processing of the projectile and a plurality of target groups;
2. The guidance system according to claim 1, wherein when said flying object approaches said target group, said second irradiation radio wave including a proximity detonation command is sent to said flying object. A guidance device applied to a guidance system that uses radio waves to guide a flying object to a target, comprising: means for transmitting a first irradiation radio wave for guiding the flying object to the target;
means for receiving a first reflected radio wave from the target and a second reflected radio wave from the flying object with respect to the first irradiated radio wave;
Means for observing the flying object and the target based on the first and second reflected radio waves; and Guiding the flying object to the target based on observation results for the flying object and the target. means for transmitting a second irradiation radio wave containing the command information of
means for switching a target to be guided to the flying object based on the observation result;
including
the goals include a first goal and a second goal;
the means for observing intermittently executes observation processing of the flying object and the second target;
The means for switching, based on observation results of observation processing of the flying object and the second target, the priority of the second target is higher than the priority of the first target, and the flying object When it is determined that homing to the second target is necessary, at the carrier frequency used in the guidance form to the first target, from irradiation to the first target, the second target switch to irradiation to
induction device. A method applied to a guidance system that uses radio waves to guide a flying object to a target,
a process of sending out a first irradiation radio wave for guiding the flying object to the target;
a process of receiving a first reflected radio wave from the target and a second reflected radio wave from the flying object with respect to the first irradiation radio wave;
a process of observing the flying object and the target based on the first and second reflected radio waves; and guiding the flying object to the target based on the observation result of the flying object and the target. A process of transmitting the second irradiation radio wave containing the command information of
a process of switching a target to be guided to the flying object based on the observation result;
including
the goals include a first goal and a second goal;
In the observing process, the observing process of the flying object and the second target is intermittently performed,
In the switching process, the priority of the second target is higher than the priority of the first target based on the observation result of the observation process of the flying object and the second target, and the flying object When it is determined that homing to the second target is necessary, at the carrier frequency used in the guidance form to the first target, from irradiation to the first target, the second target switch to irradiation to
Method.

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