JPH03273999A - Parachute homing device - Google Patents

Abstract

PURPOSE:To automatically guide a parachute to a target point by receiving the emitted radio waves from the target point by a target tracking device and controlling the strap of the parachute when the parachute loaded with goods is dropped from an aircraft at a remote and high altitude. CONSTITUTION:A transmitter device 2 for emitting radio waves is disposed in a determined position on the ground 1, and a target tracking device 5 is loaded on a parachute capable of running and flying as a rectangular parachute 1 through a strap 4. The target tracking device 5 is formed of a pair or plural pairs of receiver antenna elements for detecting the horizontal azimuth information and vertical descent angle information to the transmitter device 2 (target point), a signal processing circuit for outputting such horizontal control signal and vertical control signal as making the slippage between the horizontal azimuth information and vertical descent angle information and preset horizontal and vertical approach angles to zero, and a servo system for automatically controlling the strap 4 of the parachute by the horizontal control signal and vertical control signal.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a parachute homing device that automatically guides a parachute capable of gliding flight to a target point.

(Prior Art) Conventionally, there is no parachute homing device that automatically guides a parachute that can glide to a target point. Therefore, it is not possible to drop Balashud from far away or at high altitudes, and the wind direction
Taking wind speed into consideration, it is common to drop from a low altitude above the target point.

However, it is only conceivable that amateurs could remotely control the system from the ground using radio controls.

(Problems to be Solved by the Invention) Conventionally, since there is no parachute homing device, it is not possible to drop a parachute loaded with supplies from an aircraft from a distance or at a high altitude, making unmanned cargo transportation difficult. This is especially difficult in foggy conditions with poor visibility or at night.

The present invention has been made in view of the above points, and by automatically guiding a parachute that can glide to a target point, a parachute loaded with supplies can be transported from an aircraft to a long distance.
Since it can be dropped from high altitudes, unmanned cargo delivery is possible, and it can be dropped by parachute not only during the day, but also in foggy conditions or at night with poor visibility.Also, even when manned, it can be automatically controlled to accurately reach the target point. The purpose is to provide a parachute homing device that can reach

[Structure of the Invention] (Means for Solving the Problem) In order to achieve the above object, the present invention includes a transmitting device installed at a predetermined position on the ground and emitting radio waves, and a transmitting device that receives the radio waves from the transmitting device. one or more pairs of receiving antenna elements provided in the horizontal and vertical directions for detecting horizontal azimuth angle information and vertical descent angle information with respect to the target point; It consists of a signal processing circuit that outputs a horizontal control signal and a vertical control signal such that the deviation from the horizontal and vertical approach angles is O, and a servo system that automatically controls the parachute strap based on the horizontal control signal and vertical control signal. This system is characterized by comprising a target tracking device mounted on a parachute capable of gliding flight.

(Function) According to the above means, the parachute dropped within the coverage area of the transmitting device and within the maximum coverage area of the parachute receives radio waves radiated from the target point by the target tracking device, and determines the horizontal azimuth angle to the target point. Detect information and vertical descent angle information, compare it with preset horizontal and vertical approach angles, and check if the deviation is ○
By controlling the straps of the parachute using a servo system, the parachute is automatically guided to the target point.

(Example) Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a functional configuration diagram showing an embodiment of the parachute homing device of the present invention, in which a transmitting device 2 for emitting radio waves is installed at a predetermined position on the ground 1. On the other hand, a target tracking device 5 is mounted via a strap 4 on a parachute 3 that can glide like a long parachute. The target tracking device 5 includes one or more pairs provided in the horizontal direction and the vertical direction, which receive radio waves from the transmitting device 2 and detect horizontal azimuth angle information and vertical descent angle information with respect to the transmitting device 2 (target point). a signal processing circuit that outputs a horizontal control signal and a vertical control signal such that a deviation between the horizontal azimuth angle information and vertical descent angle information and preset horizontal and vertical approach angles becomes 0; It is comprised of a servo system that automatically controls the strap 4 of the parachute based on the horizontal control signal and vertical control signal. The parachute 3 has two straps 4 on the left and right, and performs horizontal direction control (pulling one strap on the left or right to change the balance between the left and right) and descent rate control (pulling the two straps on the left and right at the same time with the same tension). be able to. The strap 4 is interlocked with a servo system of a target tracking device 5. 6 is a glide slope connecting the parachute 3 and the transmitter 2 (target point), and θ0 is the glide slope 6
is the angle between and the ground 1.

FIG. 2 is a system diagram showing an example of a target tracking device according to the present invention, and 7.8 is a system diagram showing an example of a target tracking device according to the present invention. a pair of receiving antenna elements provided, 20
．． Reference numeral 21 denotes a pair of receiving antenna elements arranged in the vertical direction for receiving radio waves from the transmitting device and detecting vertical azimuth information with respect to the transmitting device (target point). The output of one receiving antenna element 7.20 is applied to a combiner 10.23 via corresponding phase correction circuits 9 and 22, respectively.

The outputs of the other corresponding receiving antenna elements 8, 21 are added to the combiner 10.23. Synthesizer 10
The reception pattern Σ obtained when the pair of reception antenna elements 7.8 receives the output in the same phase is added to the first mixer 11 and mixed with the local signal from the local signal generation circuit 13 to form an intermediate frequency signal (IF). After that, the signal is amplified by the first intermediate frequency amplifier 15 and applied to the signal processing circuit 16. In addition, the reception pattern Δ when a pair of receiving antenna elements 7 and 8, 20 and 21 receives the output in opposite phases among the outputs of each combiner 10.23 is determined by the corresponding second Φ mixer 1.
2 and 24 and mixed with the local signal from the local signal generation circuit 13 to become an intermediate frequency signal (IF), the signal is then sent to the corresponding second intermediate frequency amplifier 14, 25.
The signal is amplified and applied to the signal processing circuit 16.

The signal processing circuit 16 outputs a flag (FLAG) signal Sl, a course control signal S2. A bus control signal S3 is output and applied to a servo system 17 that is linked to the parachute strap. The servo system 17 receives a flag signal Sl,
Course control signal S2. The strap of the parachute is automatically controlled by the bus control signal S3, and the parachute automatically reaches the transmitting device (target point).

The flag signal S1 outputs a 1 or 0 signal for determining whether or not the target tracking device receives radio waves from the transmitting device and has obtained a sufficient electric field strength to perform signal processing for target detection.

When the output is 1, the control signal is output continuously.

When the output is 0, a vertical spiral descent signal is output.

The course control signal S2 outputs a course control signal indicating a deviation between the direction of the target point and the direction of movement of the parachute.

The bus control signal S3 is a signal connecting the parachute and the target point at an elevation angle θ0 in the vertical plane (for example, a glide ratio of 3.7
In this case, a control signal indicating θo-16°) is output. Furthermore, θ. The settings can be changed depending on the glide ratio.

The power source includes a battery 18 and a DC power source 19 and outputs DC power.

FIG. 3 shows an example of a transmitting device according to the present invention.
The signal is output and radiated as radio waves in all directions from the transmitting antenna 28 via the transmitter 27 using vertically polarized waves.

The electric field strength at the receiving point is 120 μV /
Figure 6 shows the transmission distance of radio waves when the installation height of the transmitting antenna is 1/4 wavelength.

The power source consists of two batteries and a DC power source 30, and outputs DC power (DC).

Next, target detection by the target tracking device will be explained.

That is, as shown in FIG. 4, a pair of receiving antenna elements 7
．． 8 are arranged horizontally and vertically at intervals of d, and receive transmitted radio waves.

■ When a pair of receiving antenna elements 7 and 8 receive signals in the same phase, the reception pattern Σ is Σ-K cos(d/2 · β · s1nθ), where K: constant θ: horizontal angle or vertical angle, as shown in Fig. 4 Angle β between the target point 201 and the parachute traveling direction A: Phase constant (-2π
/λ) λ: Wavelength Also, the phase difference Φ between the transmitting antennas is Φ-d β sinθ ■ When a pair of receiving antenna elements 7 and 8 receive in opposite phases, the reception pattern Δ is Δ-Ksin(d/2・ β ・ sin θ) Furthermore,
FIG. 5 shows the distance d between the pair of receiving antenna elements 7 and 8 as λ/
An example of the characteristics of Σ, Δ, and Φ when the value is 2 is shown below. From FIG. 5A, the Δ or Φ characteristic takes the value O at the angle θ-00 where the direction of travel of the parachute and the direction of the target point coincide, so it becomes horizontal azimuth angle and vertical descent angle information.

Since the horizontal position angle information is θ-00 as the target point, the left and right straps are controlled in the horizontal direction so that Δ or Φ always has a value of 0.

C. The vertical descent angle is determined by the glide performance of the parachute. For example, in the case of a parachute with a glide ratio of 3.7, the descent angle θ. is θo >jan-'1/3.7-15.1
' and θ. -16°, θ. Control the descent rate of the left and right straps to -160.

2. Since the Σ pattern shows a maximum value at θ-00, it is used to limit the minimum reception level, that is, as a flag signal.

This stabilizes the course control signal and the path control signal.

E, Also, in the Σ pattern, the polarity of Φ and Δ is reversed (left and right,
Used as a reference phase signal to prevent vertical reversal.

[Effects of the Invention] As described above, according to the present invention, by automatically guiding a parachute that can glide to a target point, it is possible to drop a parachute loaded with supplies from an aircraft from a distance and at a high altitude. To provide a parachute homing device that enables unmanned material transportation, can be dropped by parachute not only during the day, but also in foggy conditions with poor visibility, at night, etc., and can accurately reach a target point under automatic control even when manned. be able to.

[Brief explanation of drawings]

FIG. 1 is a functional configuration diagram showing an embodiment of the present invention, FIG. 2 is a system diagram showing an example of a target tracking device according to the invention, and FIG. 3 is a system diagram showing an example of a transmitting device according to the invention. , FIG. 4 is a diagram for explaining target detection of the target tracking device according to the present invention, FIG. 5 is a characteristic diagram showing an example of the characteristics of Σ, Δ, and Φ according to the present invention, and FIG. 6 is a diagram for explaining target detection of the target tracking device according to the present invention. It is a characteristic diagram which shows an example of the notification distance of the transmitting device based on FIG. 2... Transmitting device, 3... Parachute, 4... Strap, 5... Target tracking device, 7.8... Pair of receiving antenna elements, 16... Signal processing circuit, 17...
・Servo system.

Claims (1)

[Claims] A transmitting device is installed at a predetermined position on the ground and emits radio waves, and a transmitter is installed in the horizontal and vertical directions to receive the radio waves from this transmitting device and detect horizontal azimuth angle information and vertical descent angle information with respect to the target point. A signal that outputs a horizontal control signal and a vertical control signal such that the deviation between the horizontal azimuth angle information, the vertical descent angle information, and the preset horizontal and vertical approach angles is zero. A parachute homing device comprising a processing circuit and a target tracking device mounted on a parachute capable of gliding flight, comprising a servo system that automatically controls straps of the parachute based on the horizontal control signal and the vertical control signal.