JPH0370997A - Guiding device for missile - Google Patents

Abstract

PURPOSE:To make a computer exclusive for high speed unnecessary, produce a guiding device for a missile inexpensively and permit the intertia guidance of the missile by a method wherein the guiding device is provided with a detecting means, in which a seeker axis is stabilized in space from the time of launching while the attitude angle of the missile is detected even during flying utilizing an angle between the seeker axis and the fuselage of the missile. CONSTITUTION:Upon launching, a target angle lambdaT and the attitude angle theta0 of a missile, which are seen from the point of launching, are inputted from external sources into a signal processing computer 10. Simultaneously with the launching, a switch 11 is set at a position 1 by a sequence signal Sc1 from the signal processing computer 10. According to this setting, a seeker axis becomes a mode stabilized in space. After launching, the signal processing computer 10 monitors an angle lambdaM between the seeker axis and the axis of a fuselage at all times. Since the initial value of the angle lambdaM is lambdaC, the changing amount of the attitude angle during flying becomes DELTAtheta=lambdaM-lambdaC. The signal proceeding computer 10 outputs a steering signal deltac utilizing the angle theta while the signal is transmitted to a steering device 6 through another switch 12 whereby the inertia guidance of the missile may be effected. When the missile approaches a target, sequence signals Sc1, Sc2 are sent to the switches 11, 12 by the signal processing computer 10 whereby the guiding mode of the missile becomes homing guidance mode.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a flying object guidance device.

[Conventional technology]

Conventional guidance systems for long-range projectiles memorize the target direction at the time of launch in advance and fire, and the inertial navigation system mounted on the projectile uses the inertial navigation system installed on the projectile to reach the distance at which the projectile can detect the target. The system uses an inertial guidance method that detects the attitude angle of the projectile and guides the projectile toward the target.When the projectile reaches a distance where it can detect the target, it scans the seeker axis to acquire the target. After tracking, there was a method of homing guidance using proportional navigation to guide the projectile to hit the target.

Figure 2 is a diagram explaining a conventional guidance device for a flying object, in which (1) is an error angle detector, (2) is an amplifier, (3) is a torquer, (4) is a free gyro, and (5) is an error angle detector. is an angle detector.

(6) is a steering device, (7) is an inertial navigation device, (8) is a rate sensor, (9) is a high-speed dedicated computer, and Ql is a signal processing computer.

(11) and (12) are switches, and (13) is an adder.

Next, the operation will be explained. In the conventional guidance system for a flying object shown in Fig. 2, when two launches are performed, the switch (11), (
12) is folded in the direction shown in the figure. Also, the angle λT of the hundred marks seen from the point of the second launch and the attitude angle θ of the projectile at the time of the second launch. has been input into the total n machine 01 in advance. After launch, the high-speed dedicated computer (9) integrates the aircraft attitude angle θm detected by the rate sensor (8) at high speed, and calculates the above-mentioned θ. The attitude angle of the flying object is calculated by adding to , and a steering signal δC is outputted so that the difference from the above input becomes zero. The steering signal δC is passed through a switch (12) to a steering device (
6) to control the attitude of the flying object. Further, the high-speed dedicated computer (9) outputs a scanning command λC to the seeker axis to search for a target. When the signal processing computer ao discovers the target, it outputs the command Se, which causes the switch (
11) and (12) are thrown in the opposite direction to that shown in Figure 2. At this time, the error angle detector (1) detects the angular difference ε between the seeker axis and the target, which is multiplied by 1 in the amplifier (2) and the switch (
12) is input to the steering device (6) as a steering signal. On the other hand, 1ε is passed through the switch (11) to the torque converter (
3) and scans the free gyro (4). After target acquisition, the aircraft is guided to the target using proportional navigation.

[Problem to be solved by the invention]

However, the above-mentioned conventional guidance device for a flying object requires a high-speed dedicated computer to calculate the attitude angle of the flying object, and this invention has the disadvantage of being expensive. The purpose of this project was to provide a guidance system for a flying object that does not require a high-speed dedicated computer, is inexpensive, and is capable of inertial guidance.

[Means to solve the problem]

A flying object guidance device according to the present invention has an error angle detection method that detects an error angle between the target and the seeker axis direction in a flying object guidance method that guides the flying object in proportion to the visual line angular velocity of the target. With the vessel.

a scanning system comprising a torquer and a free gyro with two degrees of freedom that mechanically scans the seeker axis using the output of the error angle detector as input; a means for detecting the angle of the seeker axis from the aircraft axis; means for guiding the pre-memory body toward the target using the error angle detector output as a steering signal; and IO control means for directing the seeker axis toward the target using the detected angle between the seeker axis and the aircraft axis. and calculating a steering signal using the detected angle between the seeker axis and the aircraft axis.

A flying object characterized by B comprising: control means for guiding the front memory body to the target without using the output of the error angle detector; and means for stopping the rotation of the front memory body about the roll axis. It is a guidance device.

[For production]

Since the flying object guidance system according to the present invention stabilizes the seeker axis in space immediately after the second launch, it is assumed that the temporal change in the angle between the seeker axis and the aircraft is equal to the change in the attitude angle of the aircraft after the second launch. Take advantage of it.

Inertial guidance can be performed without using a high-speed dedicated computer.

〔Example〕

Next, one embodiment of the present invention will be described.

FIG. 1 is a diagram showing the angular relationship between two flying objects and a target related to the present invention. In Figure 1, (1) is an error angle detector, (2) is an amplifier, (3) is a torquer, and (4) is an amplifier.
) is a free gyro, (5) is an angle detector, (6) is a steering device, (8) is a rate sensor, (In is a signal processing computer, (11), (12) are switches, (13)
is an adder.

At the time of launch, the signal processing computer 0ω stores the target angle λT seen from the two launch points from the outside and the attitude angle θ of the projectile. is input.

Before the launch, the sequence signal Se1. from the signal processing computer αω is first processed. Se, by switches (11), (12
) is in the position shown in the figure. At this time, the seeker axis is directed in the direction in which the target can be seen by the angle command signal λC from the signal processing computer. That is, λC=θ. It goes without saying that -λT. Simultaneously with the firing, the switch (11) is set to position 1 in the figure by the sequence signal Se1 from the signal processing computer. This puts the seeker axis in a spatially stabilized mode. After launch, the signal processing computer constantly monitors the angle λM between the seeker axis and the aircraft, and the initial value of λM is λC, so after two launches, the amount of change in attitude angle during flight Δθ = λM - λC It is.

As already mentioned, since the attitude angle θ0 of the projectile during the second launch is known, the attitude angle θ during flight is θ=θ. ten Δ
It can be expressed by a simple calculation formula for θ. Using this θ, the signal processing computer al outputs a yk rudder signal δC, which is sent to the steering device (6) through the switch (12) for inertial guidance. When approaching the target, the signal processing computer GO) sends a sequence signal Se1゜Se2 to the switch (11).
(12) and becomes the homing guidance mode, which is the same as in conventional guidance devices for flying objects.

〔Effect of the invention〕

As described above, the present invention overcomes the drawbacks of the conventional inertial guidance system (
(requires an expensive high-speed dedicated computer), the seeker axis is stabilized in space from the second launch, and during flight, the attitude angle of the flying object is detected using the angle between the seeker axis and the aircraft. Since the system is equipped with the means, the ability of the signal processing computer is sufficient, and there is no need for an expensive high-speed dedicated computer, making it possible to perform inertial guidance at low cost.

[Brief explanation of drawings]

Fig. 1 is a diagram showing the flying object guidance device of the present invention, Fig. 2
Figure 3 shows the conventional guidance system for a flying object, Figure 3 shows the angular relationship between the flying object and the target, and Figure 4 shows the angular relationship between the flying object and the target.
The figure shows the angular relationship between the projectile and the zero mark at the time of launch. In the figure, (1) is the error angle detector, (2) is the m intensifier, and (3) is the error angle detector.
) is ToruCa, (4) is free gyro, (5) is angle detection 11. (6) is a steering device, (7) is an inertial navigation device, (
8) is a rate sensor, (9) is a high-speed dedicated calculator, QC
I is a signal processing computer. (11) (12) is the switch p (1g) is the adder,
(14) is a projectile. Note that the same reference numerals in the two figures indicate the same or equivalent parts.

Claims (1)

[Claims] A flying object guidance device that guides a flying object in proportion to a target's line-of-sight angular velocity includes an error angle detector that detects an error angle between the target and the seeker axis direction, and an output of the error angle detector that is input. a scanning system comprising a torquer that mechanically scans the seeker axis and a free gyro with two degrees of freedom; a means for detecting the angle of the seeker axis from the aircraft axis; and an output of the error angle detector as a steering signal. means for guiding the flying object to the target; control means for directing the seeker axis in the target direction using a detected angle between the seeker axis and the body axis; and detection of the seeker axis and the body axis. control means for calculating a steering signal using the angle and guiding the projectile to the target without using the output of the error angle detector; and control means for stopping rotation of the projectile about a roll axis. A flying object guidance device comprising: