JPH04104000A - Method for guiding guided bullet and guided bullet - Google Patents

Abstract

PURPOSE:To enable a spinned bullet to be controlled in its guiding by a method wherein a spin angle is calculated based on an angular speed when an attitude got by an optical fiber gyroscope is varied, an image recognition is carried out by an imaging device and then a direction of the bullet is controlled by torque of the explosive. CONSTITUTION:When a shape feature of a target or the like is inputted to a control part 2 and the control part 2 is installed in a bullet 1 and launched, the bullet 1 is spinned by about ten thousand rotations and advances. An angular velocity omegat from an optical fiber gyroscope 13 under its spinned condition is sent to a computer 16 to get a rotational angle and at the same time an xy coordinates is converted into a polar coordinates rho and thetacoordinates so as to store an image and then an operation of a fuel cell 17 for torque 4 and 5 is started to operate. Then, a polar coordinates rphi coordinates of the bullet is converted into a rhotheta coordinates so as to store the image. The inputted image is rotated, reduced and moved and coincided with a received image of an imaging device 11 to determine the rhothetacoordinates of a target point and at the same time the number of torque is temporarily determined and a aiming position rhotheta is calculated. Concurrently, a time check is carried out, an optical coupler 23 is operated, a data selector 22 is operated to correct the direction and then the bullet 1 for the target is correctly struck against it when the aimed position of rhotheta is equal to 0.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a method for guiding guided artillery shells and guided artillery shells.
In particular, the present invention relates to a novel improvement for guiding and controlling a spinning guided artillery shell by means of an optical gyro, an imaging device, a memory, and a gunpowder torquer.

[Prior Art] There are various types of shells of this type that have been used in the past, but in general, cannons are difficult to guide because they have spin applied to them, and missiles have been guided using a method that does not apply spin. Was. For this reason, for cannons, methods such as bullet impact correction and dispersion measurement are used to statistically solve problems using numbers. For missiles, the volume and weight of guidance-related equipment increases in exchange for accuracy, and a large amount of propellant is required, and the purpose cannot be achieved unless a large projectile is flown, considering the weight of the bullet shell. Despite being an expensive flying object, its destructive power was low, making it economically disadvantageous.

FIG. 9 shows a cross-sectional view of a conventional winged artillery shell. It fires with a regular howitzer, does not apply spin, fires out the wings and rudders, captures the image with a 4-element infrared detector on a gyro-stabilized seeker, tracks, and steers.

This gyro is fixed inside the gun barrel to avoid the G force of firing, avoiding large forces on the bearings, and after firing, the gyro is activated by a spring and continues to rotate by an electric motor. The image is captured on a gyro by a torquer. It steers by moving its wings in the direction of this gyro. The image follows the light reflected from the target by the laser irradiator.

[Problem to be solved by the invention]

Conventional artillery shells were constructed as described above, which posed the following problems.

In other words, since no spin is applied by the band inside the gun during firing, the directionality is considerably poor without steering, and compared to a gun that maintains directional stability through spin with a slight directional correction, it has a wider field of view. Select your goals from among them,
A drawback of the conventional technology is that it is necessary to perform steering at the expense of speed due to a large steering angle.

Furthermore, in order to control the directionality of the shell, a plurality of wings had to be attached, making it difficult to control the direction of the wings, making it extremely difficult to improve the accuracy of landing on the target.

The present invention has been made to solve the above-mentioned problems, and in particular, a guided artillery projectile in which a spinning guided artillery projectile is guided and controlled by a light gyroscope, an image device, a memory, and a gunpowder torquer. The purpose of this invention is to provide a guidance method and a guided artillery shell.

[Means to solve the problem]

The method for guiding a guided artillery shell according to the present invention is to obtain the spin angle from the angular velocity obtained by an optical fiber gyro provided on the artillery shell in a spinning state, convert the image signal from the image device provided on the artillery shell into polar coordinates, and calculate the spin angle. In this method, the image signal is digitally integrated, image recognition is performed, and the shell is steered to one point on the polar coordinates.

More specifically, the spin angle is determined by measuring an initial value inside the gun using a uniaxial inertial navigation device fixed to the spin axis of the artillery shell, and generating a synchronization signal from the optical fiber gyro;
This method performs convolution integration by subtracting the spin angle of the image stored in the memory every rotation.

More specifically, this method performs orthogonal coordinate polar coordinate conversion on an image signal based on infrared rays or visible light, and stores the image signal in a polar coordinate digital hard memory.

More specifically, this is a method in which the amount of deviation of a shell is determined from an integral digital image, and the shell is guided to a target.

More specifically, in order to find a match between the previously given image and the received image, the previously given image is rotated, reduced, and enlarged, and a point specified at the time of matching is guided to the target.

More specifically, in this method, the gunpowder is steered by exploding the gunpowder substantially at right angles to the deflection angle with respect to a plurality of gunpowder torquers arranged perpendicularly to the spin axis of the cannonball.

More specifically, it is a method of controlling the amount of steering by simultaneously operating the torquers in accordance with the amount of deviation of the cannonball.

In addition, a guided artillery shell according to another invention is a guided artillery shell that steers a shell fired in a spinning state toward a target, and includes a control unit and an explosive charge provided in the projectile, and a plurality of guided artillery shells provided adjacent to the explosive charge. A gunpowder torquer, an imaging device having an optical fiber gyro and an optical system provided in the control section, and a computer for controlling the steering, the gunpowder being steered by the torquer. It is the composition.

[For production]

In the guided artillery shell guidance method and guided artillery shell according to the present invention, the guided artillery shell first exits the gun or launcher,
When the spin is stabilized, the receiver receives signals such as images of the target, infrared rays, reflected laser light, radar signals, etc. after about 3/4 of the scheduled time has elapsed. The address of the image inside the shell is converted to the polar coordinates of the projectile axis, and when the shell traverse angle obtained by integrating the signal of the strap-down fiber optic gyro is subtracted, the deviation in earth coordinates is obtained. r, its angle θ is converted, and the image signal is A
After /D conversion, it is stored in memory as an rl-bit digital signal.

An optical fiber gyro is used as an INS rotation indicator to determine the shell traverse angle. Among strap-down INS, this optical fiber gyro is suitable for those that can withstand 30,000 G and 10,000 rotations.By using this as a rotation indicator and determining the spin angle, and integrating this, φ, = φ. +to ω dL t: Time from launch of the projectile ω: Angular velocity of the projectile (strictly speaking, first-order integral of angular acceleration) φ. The angle φ,= inside the two projectiles can be determined as the angle (spin amount) of the projectile at the time of second.

The received signal may be an object located in earth coordinates, an infrared source, or a radar wave source (including emitted signals (active, semi-active))
, and a light wave generated by the other party's radar transmission signal (ECM),
Infrared rays and radar radio waves. Therefore, the coordinates of a guided cannonball while spinning are concentric circles, except when they are on the spin axis. If this is reverse-spinned, the concentric circles will be canceled and it will become one point or one image with fixed earth coordinates. This is a coordinate transformation of the spinning guided projectile coordinates to earth coordinates. This is because the deflection angle (aiming error) and direction of a spinning projectile cannot be determined unless the guided projectile coordinate axis is converted to the earth coordinate axis. Therefore, it is easy to handle the guided projectile using fixed polar coordinates, and use the polar coordinates within the projectile to subtract the rotation angle. That is, θ=φ−φt ρ: r r, θ: Guided shell fixed polar coordinate ρ, θ: Earth fixed polar coordinate (origin is guided shell spin axis θ=
0 is the zenith) r, ρ: Aiming error Further, the orthogonal coordinate addresses x, y can be read into the polar coordinates r, φ of the spin cannonball coordinates by the following formula. In addition, plane C
An image device consisting of a CD generates a signal in x and y coordinates for each pixel.

r = I (x −xo)2+ (y −yo)2φ
= jan-' ((x - xo)/ (y yo)
1: Ambiguity is determined by rotation
In terms of rpm, it is approximately 1000ns with 200 x 200 elements
Become ee. This is made possible by digital hard memory (ROM) at a speed that current computers cannot handle. Once this digital hard memory is prepared for 45 degrees, it can be used repeatedly. The function of recognizing the image integrated in the earth-fixed polar coordinates, finding its center position or separation point position in the target, and sending a steering signal from this aiming error and direction to the gunpowder torquer is as follows.
This is as shown in the flowchart in the figure. The image integrated in the digital hard memory is a polar coordinate figure stored in a rectangular coordinate memory for convenience as shown in Fig. 6. The image near the aiming point is large, the image far away is small, and the spin cannonball is moving the rudder. By cutting, the image also changes.

Therefore, images prepared as skeletons in advance are
Unless it is converted into polar coordinates and recognized each time, it will not be possible to match the pixels.

Next, the aiming error determined and the action of the torquer for steering in that direction will be explained. Because the torquer is on the spin cannonball coordinate axis, r. , φ returns the spin angle to r w2 ρ φ. =θ+φ, given by +90°. In other words, in order to give the necessary spin axis rotation to the bullet, which is a rotating body, a torque deviating from the desired rotation direction by 90 degrees is applied. That is, L8-μxL L Rotational angular momentum vector of Nispin axis μ Rotational angular velocity vector of Nispin axis direction change LR; Torque applied laterally to the rotating shaft L=, C・Ω C Inertia factor around Nispin rotation axis Ω Nispin rotational angular velocity vector Slμ1dt -ρt/a: deviation angle ρ, deviation a on Nisvin shell polar coordinates: distance from lens to CCD dt: torque duration time. This dt is 2 if 36 torquers are provided.
It is estimated to be 0.08μSee, which causes precession (miso pickpocketing motion) as an error in the direction of the deviation angle.

If this aiming error is large and it is difficult to steer with just one pair of torquers, for example, if you use 13 pairs of torquers at 10 degree intervals at the same time, F=F, +2F, CO510"+2F, CO520°
+2F, CO530°+2F, CO540”+2
F, CO550"+-2F, CO560'=10.38
It turned out to be F+, meaning there was plenty of time to spare.
On the other hand, if it is difficult to ignite and consume 13 pairs of torquers at the same time, if you ignite one pair at a time, for example every 208 μsec in the above example, θ+φ, '+90°=φ.

φL'=φ. +ω(t+Δt), and the deviation angle can be corrected using the adjacent torquer. In other words, a delay is applied until the point at which the adjacent torquer only needs to work due to spin rotation. This allows for 13 times more correction with 13 pairs.For example, it takes about 13 seconds to fly a projectile with a speed of 3 km to a distance of 13 km. Assuming that the reception sensitivity of the imaging device is insufficient at 3/4 of the flight distance, there are still 3 more to go.
．． It takes 2 seconds. Even if you correct it in this 3/4 stroke, due to the characteristics of the spin shell's fall, it will draw a parabola and will not hit the target.

Therefore, dividing the remaining time into 36 equal parts equals 89 m5ec.
It is desirable to control the occupancy. The closer you get, the more frequent corrections are necessary; the farther you get, the more you can get a large deviation with fewer corrections. By using the above two correction methods, air resistance,
Control is performed taking into consideration parabolic drop correction, servo delay, etc.

Next, the parabolic fall correction will be explained.

y’　o=　1/2・gla/v.

Lo: Total scheduled flight time t: Time elapsed from the gun barrel g: Earth's gravitational acceleration vo: velocity of the shell That is, ρ'=　　fρ2CO5;2θ+(ρSINθ+y°.

)2θ'=TAN-'(ρSINθ+y'0/ρCOS
θ) ρ, θ: Polar coordinates of the target ρ, θ゛: Polar coordinates of the aiming point Also, the effects of the power supply system will be described. Since the shell turning angle requires not only the angular velocity but also the initial value of the angle within the shell,
Sensors, fiber optic gyros, processing units, memory, etc. are powered from within the shell. Therefore, there are two types of power sources, and the angle initial value signal given from the outside inside the shell is successively integrated after firing to determine the shell turning angle. The other power source rises at the spin or G of the shot and prepares to power the gunpowder torquer. A part of the ToruCa and the control section are connected by an optical coupler, and the process is controlled by the onboard computer. This control function uses software to provide a filter function that solves the problems of servo control delays and hunting that occur because the CCD imaging device is not mounted on a gimbal. Operating torquer
The selection is made by determining the aiming error ρ and its direction angle θ from the image information integrated on the earth coordinate memory, converting these into spin shell coordinates r and φ using a computer, and timing them according to the steering conditions. It is steered by attitude control feedback, with constant corrections made in conjunction with external disturbances and target movement. As the timer approaches the scheduled time, the S/N ratio of the image improves, the number of integrations can be reduced, the image becomes larger, and the amount of deviation increases. Shorten the time interval between maneuvers and perform multiple maneuvers in parallel if necessary to hit the target.

In addition, when multiple images are received, if image processing and image recognition functions have been input in advance, the necessary images will be attacked.
If there is none, turn to the stronger image and attack. The time lag between torquer selection and operation is corrected in advance by computer to account for the combustion delay of the gunpowder used.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a method for guiding a guided artillery shell and a preferred embodiment of a guided artillery shell according to the present invention will be described in detail with reference to the drawings.

1 to 8 are for illustrating a method for guiding a guided artillery shell and a guided artillery shell according to the present invention. FIG. 1 is a block diagram, FIG. 2 is a sectional view showing the guided artillery shell, and FIG. A in the diagram
- An enlarged sectional view of the torquer taken along the A line, Fig. 3A is an enlarged sectional view showing a part of Fig. 3, Fig. 4 is a configuration diagram showing the image of the light source on the orthogonal image device, and Fig. 5 is an enlarged sectional view of the inside of the gun. φ. φ of the laser light source that gives. A diagram of the principle of mark insertion. Figure 6 is a configuration diagram showing the contents of the digital memory on the earth-fixed coordinate axis. Figure 7 shows the spin vector Ω of the cannonball, the direction of the torque vector T, and the direction of the spin by ρ with an angular velocity vector μ. FIG. 8, which is a block diagram of a cannonball showing a state in which it rotates and stops, is a flowchart showing the action of sending a steering signal to the torquer based on the aiming error and its direction.

First, in FIG. 2, the bullet indicated by the reference numeral 1 is a cannonball whose overall shape is elongated and has no wings.The tip of the cannonball 1 is provided with a control section 2 as a fuze.
A pair of disk-shaped torquers 4.degree. 5 is disposed below the control section 2 via an explosive charge 3, and the overall configuration constitutes a strap-down gyro rotation guided missile.

As shown in FIGS. 3 and 3A, each of the torquers 4 and 5 has an injection hole 7 on its circumferential surface in a direction perpendicular to the spin axis 6, and has vertically symmetrical electric connections deviated by 180°. ,
The spin shaft 6 is configured to be steered in a plane perpendicular to the torquer 4°5.

The injection hole 7 is provided with a squib gunpowder 8 formed in a direction parallel to the spin shaft 6, and this squib gunpowder 8 is housed parallel to the spin shaft 6 to avoid centrifugal force. The blowing direction of the combustion gas is configured to be perpendicular to the spin axis 6.

The control section 2 has a conical shape, and has a spin shaft 6 at the center.
has an optical system lens 10, and an image device 11 consisting of an orthogonal CCD is provided in close contact with this optical system lens 10,
Optical images can be obtained. As shown in FIG. 4, this image device 11 displays a rotated image 11a and a polar coordinate limit 11b on x and y coordinates, and has an analog shift register section 11c.

The optical system lens 10 and the imaging device 11 have different materials and shapes depending on visible, infrared, laser reflected waves, and radar input, and the control unit 2 is configured to be replaceable depending on the purpose.

The optical system lens 10 is provided with an incoming and outgoing tube/proximity fuse 12 in a part of its lens holding fitting (not shown).

A strap-down type optical fiber gyro 13 is provided around the outer periphery of the lens holding fitting, and is configured by winding an optical fiber (not shown), and the input and output of this optical fiber is connected to a printed circuit board 14. There is.

The printed circuit board 14 has a digital hard memory 15 consisting of a ROM and a computer 16 consisting of a CPU.
is integrally formed and mounted, and the image device 11
The output of is also input to this printed circuit board 14.

A fuel cell 17 for operating the torquer 4.5 is provided below the image device 11, and is activated when the shell 1 is fired to generate a voltage, which is controlled by a computer 16. Therefore, the torquers 4 and 5 are prevented from bursting into flames.

The control unit battery 18 of the control unit 2 is located on the opposite side of the printed circuit board 14, and supplies a current of about 1 mA to the computer 16 and the like.

The switch of the battery 18 is configured such that when the control unit 2 is screwed in, the negative side is connected to the case 1a of the shell 1, thereby activating the control unit 2 before loading into the gun. An image processing IC (not shown) is also provided on 14.

Each of the torquers 4 and 5 has a thickness of approximately 20 mm, each squib gunpowder 8 is buried in 36 pieces in a direction to avoid spin, and a squib power source (not shown) is connected to each torquer. 4 and 5 are connected by a ribbon gable 20 and connected through the periphery of the explosive charge 3.

The operation of this squib power source is controlled by a data selector 22 by the computer 16, and a slip ring 2 is connected between the control section 2 and this data selector 22.
1, a serial signal and power are sent, and an optical coupler 23 is provided between the data selector 22 and the computer 16 to ensure safety unless the combustion battery 17 is activated.

The above-mentioned cannonball 1 can be widely applied to diameters of 40 to 220mm, and has a configuration in which a sensor is activated to obtain initial input while the bullet is inside the cannon, and the shape of the target is input before firing.

FIG. 1 shows an electrical configuration including the aforementioned control section 2, and an optical fiber gyro 13 for measuring spin angular velocity has a diameter of φ
. +ωt is connected to an integrator 30 that calculates φ. A measuring circuit 31 is connected to this integrator 30.

An image device N 11 is an A/D converter 33 consisting of an orthogonal COD for capturing light 32 such as visible, infrared, and laser images.
Convert an orthogonal address to a polar address via R
It is connected to a digital hard memory 15 consisting of OM, and the output 15a of this digital hard memory 15 is φ
via a spin angle subtractor 34 that subtracts φt, or the turning angle, from the address to give the address an earth-fixed coordinate;
The signals that have already been input are extracted and added to the signals that will be input from now on to form an integral image memory.

The integral adder 35 is freely connected to an image RAM 36 for storing the image signal 11a in earth-fixed coordinates, and readout R and writing W.
is connected to an MSB reader 37 that extracts the integral image and determines the deviation amount ρ and the direction θ of the center of the image from the MSB. This MSB serializer 37 has one image serial signal 3.
8 is inputted via the image interface 39, and this computer 16 inputs information from the timing after firing one shell to the integration time, torquer selection timing setting, parabolic natural fall amount designation, torquer parallel ignition designation. This is a configuration that performs control such as.

The MSB reader 37 is connected to the data selector 22 via an optical coupler 23.
The computer 1 has a safety function, and the power supply for the output side photodiode (not shown) is maintained until about 3/4 of the entire process.
The data selector 22 is placed in front of the torquers 4 and 5, and receives the serial data and clock from the computer 16. Steering is performed by selecting and igniting predetermined torquers 4 and 5 using a strobe.

The data selector 22 is connected to torquers 4 and 5, and the torquers 4 and 5 are connected to a torquer power source 40 which is activated by the spin and firing G of the cannonball and supplies current by a timer of the computer 16. There is.

The method for guiding a guided artillery shell and the guided artillery shell according to the present invention are constructed as described above, and the operation thereof will be described below.

First, this guided artillery shell 1 is a gun or launcher (not shown).
When the spin is stabilized, the estimated time taken is 3.
At the time point when about 1/4 has elapsed, the image device 11 receives a target image, infrared rays, laser reflected light, radar signals, and other reception signals. The address of the image within this shell 1 is converted into polar coordinates of the projectile axis. In this case, the image of the light source on the orthogonal CCD, y due to parabolic correction, as shown in FIG. Perform polar coordinate transformation from orthogonal coordinates with shifted values. When the cannonball turning angle obtained by integrating the signal of the strap-down type optical fiber gyro 13 is subtracted, it is converted to the deviation amount r of the earth coordinate and its angle θ, and the image signal is converted to r1 after A/D conversion. It is stored in the digital hard memory 15 as a bit digital signal. In order to know this shell turning angle, an optical fiber gyro 13 is used as an INS rotation meter.

Among strap-down INS, this optical fiber gyro is suitable for those that can withstand 30,000 G and 10,000 rotations.By using this as a rotation indicator and calculating the spin angle, and integrating this, φ(=φO+S2 ω dt t: Projectile Time from firing ω: Angular velocity of the projectile (strictly speaking, first-order integral of angular acceleration) φ. Angle φt of the two projectiles inside the gun: is determined as the angle (spin amount) of the projectile at the time of second.

Moreover, the above-mentioned φ. As shown in FIG. 5, a laser beam from a laser light source 72 provided in the gun barrel 70 is detected by a sensor 73 to detect an unguided shell 1 having a mark 71 inside the gun barrel 70. In this case, a non-guidance warning 74 is activated.

The received signal is an object in the earth coordinates, an infrared source, or a radar wave source (including reflected signals (active, semi-active))
, and a light wave generated by the other party's radar transmission signal (ECM),
Infrared rays and radar radio waves. Therefore, the guided projectile coordinates during spinning are concentric circles except when they are on the spin axis 6.

If this is reverse-spinned, the concentric circles will be canceled and it will become one point or one image with fixed earth coordinates. This is a coordinate transformation of the spinning guided projectile coordinates to earth coordinates. This is because the deflection angle (aiming error) and direction of a spinning projectile cannot be determined unless the guided projectile coordinate axis is converted to the earth coordinate axis. Therefore, it is easy to handle the guided projectile using fixed polar coordinates, and the rotation angle is subtracted from the polar coordinates within the projectile.

That is, θ=φ−φ.

ρ 2 r r, θ: Guided shell fixed polar coordinates ρ, θ: Earth fixed polar coordinates (origin is guided shell spin axis θ=
0 is the zenith) r, ρ: Aiming error Also, the orthogonal coordinate addresses x, y can be read as the polar coordinates r, φ of the respin shell coordinates by the following formula. In addition, plane C
An image device 11 consisting of a CD generates signals in x and y coordinates for each pixel.

r=J(x-xo)"+(y yo)'φ= tan
((x-x,)/(y-yo)): Ambiguity is determined by rotationx0. yo = position of the image in front of the spin axis of the projectile The above conversion is performed for each pixel of the image, so for example, spin 8000
In terms of rpm, Zoo x200 element is approximately 1000ns
Become ec. This is made possible by digital hard memory (ROM) 15 at a speed that current computers cannot handle. This digital hard memory 15 can be used repeatedly after 45 minutes are prepared.

Image integrated into this earth-fixed polar coordinate (shown in Figure 6)
The operation of recognizing the center position or the weakest point position of the target, and sending a steering signal from this aiming error and direction to the gunpowder torquers 4 and 5 is as shown in the flowchart of Fig. 8, which will be described later. be. The digital hard memory 1
As shown in Figure 6, the image integrated in 5 is a polar coordinate figure stored in a rectangular coordinate memory for convenience, and the image close to the aiming point is large and the image far away is small. , the image also changes. Therefore, images prepared in advance as skeletons cannot be matched with pixels unless they are converted into polar coordinates and recognized each time. Next, the aiming error determined and the action of the torquers 4 and 5 for steering in that direction will be explained. Since torquers 4 and 5 are on the spin cannonball coordinate axis, r and φ. is given by returning the spin angle to r w2 ρ φ8−θ+φ, +90''. That is, in order to give the necessary spin axis rotation to the bullet 1, which is a rotating body, a torque deviating from the desired rotation direction by 90 degrees is applied. That is, = μ x L Rotational angular momentum vector of L Nispin axis μ Rotational angular velocity vector of Nispin axis direction change L, l; Torque applied laterally to the rotating shaft L = C Ω C Coefficient of inertia around the Nispin rotation axis Ω Nispin rotational angular velocity Vector S l μ1dt= p t/a: deviation angle ρt
= Spin shell deviation on polar coordinates a: Distance from lens to CCD dt:) Torque duration time As this dt, when 36 torquers are provided, 2
It is estimated to be 0.08μSee, which causes precession (miso pickpocketing motion) as an error in the direction of the deviation angle.

As shown in FIG. 7, the cannonball 1 can rotate its spin axis by ρ in the direction of the spin vector Ω, the torque vector T, and the angular velocity vector μ, and then stop.

If this aiming error is large and it is difficult to steer with one pair of torquers 4 and 5, for example, if you use 13 pairs of torquers at 10 degree intervals at the same time, F=F, +ZF, CO510"+2F, CO520"
+2F, CO530°+2F, CO540@+2
F, CO550°+2F+CO560°=10.3
8F, and a sufficiently large force will be generated.On the other hand, if there is time and it is difficult to ignite and consume 13 pairs of torquers at the same time, one pair at a time, for example every 208μSee in the above example. When ignited, θ+φ, + +90@=φ8 φt"=φ.+ω(t+Δt), and the deviation angle can be corrected sequentially with the adjacent torquers. In other words, the rotation is delayed until the point where the adjacent torquer only needs to work. Multiply by 1.
For example, it takes about 13 seconds to fly a projectile with a speed of 3 km to a distance of 13 km.

Assuming that the reception sensitivity of the imaging device 11 is reached at 3/4 of the flight distance, it will take 3.2 secJj). Even if you correct it in this 3/4 stroke, due to the characteristics of the fall of the spin cannonball, it will draw a parabola and will not hit, so if you divide the remaining time into 36 equal parts, it will be 8911s
Control every ec is desired. The closer you get, the more frequent corrections are necessary, and the farther you get, the more you can get a large deviation with fewer corrections. The above two correction methods are used to perform control in consideration of air resistance, parabolic drop correction, servo delay, etc.

Next, the parabolic fall correction will be explained.

y゛. =172・gia/v.

to: Total scheduled flight time t: Time elapsed from the gun barrel g: Earth's gravitational acceleration vo: Velocity of the shell, ρ, fρ2COS"θ÷〈ρSINθ+y°.)2θ'
= TAN-1(ρSINθ+ y°0/ρCOSθ
) ρ, θ: Polar coordinates of the target ρ", θ": Polar coordinates of the aiming point Also, the effects of the power supply system will be described. Since the shell turning angle requires not only the angular velocity but also the initial value of the angle within the shell,
Image device 11, optical fiber gyro 13, memory 15
The power is supplied from within the shell. Therefore, there are two power sources: the control unit battery 18 and the fuel cell 17 as a torquer power source.
There are different types of angle initial value signals given externally within the shell, which are successively integrated after firing to determine the shell turning angle. The other power source rises at the spin or G of the shot and prepares to power the gunpowder torquer. The torquers 4 and 5 and the control section 2 are coupled by an optical coupler 23, and the process is controlled by an onboard computer 16. This control function is provided with a filter function in software to solve problems of servo control delay and hunting that occur because the image device 11 is not placed on the gimbal. The operating torquer is selected by determining the aiming error ρ and its direction angle θ from the image information integrated on the earth coordinate memory 15, converting this into the spin shell coordinates r and φ in the computer 16, and adjusting the timing according to the steering conditions. It is taken and done. It is steered by attitude control feedback, with constant corrections made in conjunction with external disturbances and target movement. As the timer in the computer 16 approaches the scheduled time, the S/N ratio of the image improves, the number of integrations can be reduced, the image becomes larger, and the amount of deviation increases. Shorten the time interval between maneuvers and perform multiple maneuvers in parallel if necessary to hit the target.

In addition, for lifting when multiple images are received, if image processing and image recognition functions are input in advance, it will attack the necessary images,
If there is none, turn to the stronger image and attack. Toruka-4,
The time lag between selection and operation in step 5 is corrected in advance by computer to account for the combustion delay of the gunpowder used.

Next, the above-mentioned operations are summarized as shown in the flowchart of FIG.
Attach to shell 1 and turn on the power (second step 51)
.

In the flowchart of FIG. 8, the image device 11 is represented as a CCD, and the computer 16 is represented as a CPU.

Next, load the cannonball 1, input the earth coordinate reference point of the spin coordinate axis (third step 52), start it up and fire it (
In the fourth step 53), the cannonball 1 is spun at approximately 10,000 revolutions and flies.

After the launch, the angular velocity ωt from the optical fiber gyro 13 due to the spin state is sent to the computer 16 (fifth step 54), which integrates it to obtain the rotation angle (sixth step 55), and at the same time converts the xy coordinates into the ρθ coordinates. In the seventh step 56), convert the image into
The operation of the fuel cell 17 for 4 and 5 is started (eighth step 57).

Next, the rφ coordinates are converted to ρθ coordinates, the image is stored, and 1
The image with the same ρθ coordinate after rotation is added and stored in the ρθ coordinate, and when the image can be integrated up to the MSB memory (image RAM 36), the process moves to image identification and target position determination (
Ninth step 58).

Next, the aforementioned input image is rotated, reduced and moved to match the image received by the imaging device 11 (10th step 59).
), the ρθ coordinate of the target point is determined, the torquer number is tentatively determined, and the aiming position ρθ' is calculated (eleventh step 60).

At the same time, the timer in the computer 16 starts operating and performs a time check (12th step 61), the optical coupler 23 operates and the data selector 22 operates to correct the direction (13th step 62), and aim. position ρ°θ
When "=0," the shell 1 hits the target (fourteenth step 63).

〔Effect of the invention〕

Since the method for guiding a guided artillery shell and the guided artillery shell according to the present invention are configured as described above, the following effects can be obtained.

In other words, without using wings, the spin angle is determined from the angular velocity at the time of attitude change obtained from an optical fiber gyro of a cannonball fired from a gun turret in a high-speed spinning state, image recognition is performed by an imaging device, and the spin angle is determined by the torquer of gunpowder. Since the direction of the shell can be freely controlled, it is possible to hit the target with high efficiency using a small amount of propellant.

In addition, by changing the contents of the imaging device, which is made up of COD, it is possible to freely receive visible, infrared, laser reflection, etc., and various types of steering can be performed, resulting in the effect of changing the weapon system.

Also, from a tactical perspective, firing a large number of shells only informs the enemy of the location of allied artillery and provides a target for attack.
It is desirable to be able to achieve your goal in one shot and then move on to the next one. Reaching the objective further away means that it is now possible to achieve results with less firepower than the opponent. In particular, sending a bullet that hits the target before the enemy fires has a great effect on instilling a sense of psychological fear in the opponent.

Furthermore, being able to dramatically reduce the consumption of shells without changing the current launcher or ammunition loading machine is a major benefit from the standpoint of national budget efficiency.

[Brief explanation of drawings]

1 to 8 are for illustrating a method for guiding a guided artillery shell and a guided artillery shell according to the present invention. FIG. 1 is a block diagram, FIG. 2 is a sectional view showing the guided artillery shell, and FIG. A in the diagram
- An enlarged sectional view of the torquer taken along the A line, Fig. 3A is an enlarged sectional view showing a part of Fig. 3, Fig. 4 is a configuration diagram showing the image of the light source on the orthogonal image device, and Fig. 5 is inside the gun. So φ. φ of the laser light source that gives. A diagram of the principle of mark insertion. Figure 6 is a configuration diagram showing the contents of the digital memory on the earth-fixed coordinate axis. Figure 7 shows the spin vector Ω of the cannonball, the direction of the torque vector T, and the direction of the spin by ρ with an angular velocity vector μ. Fig. 8 is a flowchart showing the aiming error and the effect of sending a steering signal from that direction to the torquer; Fig. 9 shows a conventional winged artillery shell. FIG. 1 is a shell, 2 is a control unit, 4 and 5 are torquers, 11 is an image device, 13 is an optical fiber gyro, and 16 is a computer. Patent applicant: Japan Steel Works, Ltd.

Claims (8)

[Claims] (1) The spin angle is determined from the angular velocity obtained by the optical fiber gyro (13) installed on the cannonball (1) in a spinning state, and the imaging device (11) installed on the cannonball (1)
A method for guiding a guided artillery shell, the method comprising: converting an image signal from an image signal into polar coordinates, subtracting the spin angle, digitally integrating the image signal, performing image recognition, and steering the artillery shell (1) to one point on the polar coordinates. . (2) The spin angle is determined by measuring the initial value from inside the gun using a single-axis inertial navigation device fixed to the spin axis of the shell, and generating a synchronization signal from the optical fiber gyro (13).
2. The method for guiding a guided artillery shell according to claim 1, wherein the spin angle of the image stored in the memory is subtracted for each rotation to perform convolution integration. (3) Cartesian coordinate polar coordinate conversion is performed on the image signal by infrared rays or visible light, and digital hard memory (15
3. The method for guiding a guided artillery shell according to claim 1 or 2, wherein the image signal is stored in the image signal. (4) The method for guiding a guided artillery shell according to any one of claims 1 to 3, characterized in that the amount of deviation of the artillery shell is determined from an integral digital image and the projectile is guided to the target. (5) In order to find a match between the previously given image and the received image, rotate, reduce, and enlarge the previously given image,
5. The method for guiding a guided artillery shell according to claim 1, further comprising guiding a designated point to a target when a coincidence occurs. (6) A plurality of gunpowder torquers (4, 5) provided perpendicularly to the spin axis of the cannonball (1) are configured to explode the gunpowder almost perpendicularly to the deflection angle for steering. The method for guiding a guided missile according to any one of claims 1 to 5. (7) The torquer (
7. The method for guiding a guided missile according to claim 6, wherein the steering amount is controlled by simultaneously operating the parameters 4 and 5). (8) In a guided artillery shell that steers an artillery shell (1) fired in a spin state toward a target, a control unit (2) and an explosive charge (3) provided in the artillery shell (1), and a Torkers (4, 5) with multiple gunpowder installed adjacently
, an image device (11) having an optical fiber gyro (13) and an optical system provided in the control section (2), and a computer (16) for controlling the steering; ) The guided artillery shell is characterized in that the artillery shell (1) is steered by the following.