JPH0415498A - Guiding method missile - Google Patents

Abstract

PURPOSE:To make a small-sized memory capacity and reduce a total amount of control by a method wherein a reference course ranging from a launching point to a final target point is represented by one intermediate target point in a spacing and a missile is flied between them in accordance with a specified algorithm such as a proportional navigation or the like. CONSTITUTION:Coordinates data of an intermediate target point and a final target point stored in a memory part 7 are called up in response to a request from a calculation processing part 8 in a missile in an order of the intermediate target point and the final target point and this is inputted to a navigation calculation part 10 as a guiding target point Q required by a navigation calculation part 10. The navigation calculation part 10 performs a navigation calculation in accordance with a proportional navigation, for example, on the basis of the data of the guidance target point Q changed over in sequence. An acceleration command C is outputted in respect to an auto-pilot 5. The auto-pilot 5 controls an attitude of an airplane body upon giving an acceleration command C and a movement of the airplane is detected by an inertia device 9 and fed back to the navigation calculation part 10.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a method for guiding a flying object such as a missile using inertial guidance.

As shown in Fig. 4, the missile guidance method using conventional inertial guidance is based on the standard trajectory (flight path) 3 of the missile 31.
2 data is calculated in advance by the launch control device on the side of the launcher 33, and this reference trajectory data is stored in the storage section of the guidance computer installed in the missile 31 before being launched.After the launch, it is loaded onto the missile 31 itself. There is a system that autonomously performs inertial guidance flight based on current position information from an inertial sensor system. During flight, if an error of Δγ in the path angle and ΔX in distance occurs with respect to the standard trajectory 32, for example, the position and attitude of the aircraft are corrected so that the missile 31 or the aircraft follows the standard trajectory 32. Aerospace Engineering Handbook Expanded Edition” (October 10, 1982)
published by Maruzen A on page 254).

Problems to be Solved by the Invention In the conventional guidance method, it is not only necessary to store data for the entire route of the reference trajectory 32 in a storage device in advance, but also to perform precise control including coordinate calculation. Since it must be carried out over the entire route,
In addition to the large amount of data to be stored and the need for storage devices or human capacity,
Since the total control is large, there is a problem in that the power source for controlling it also becomes large.

The present invention was made in view of the following problems.
The purpose is to provide a control method that reduces storage capacity and total amount of control.

Means for Solving the Problems and Their Effects The present invention provides an inertial guidance-C method for guiding a flying flying object.
As the trajectory data from the launch point to the final target point, intermediate target points in one or more spaces are set in advance, and from the launch point to the first intermediate target point, the first intermediate target point is guided. The projectile is guided by a specific algorithm such as proportional navigation as a reference point, and when the projectile approaches the first intermediate target point to a certain distance, the projectile is guided [-
It is characterized in that one point is switched to the next intermediate target point or final target point, and then the flying object is guided one by one using the same algorithm as above.

Embodiment FIG. 2 and FIG. 3 are diagrams showing an embodiment of the present invention.
A launch control device 2 installed on the side of the launcher 1-, a guidance computer 4 installed on the missile 3 as a flying object, and an autopilot 5 also installed on the missile 3 that controls wing control and engine control. It consists of

Prior to launch, the launch control device 2 determines the shape of the reference trajectory 6 that is most desirable for guiding the missile 3 from the launcher 1 to the final target point A. The coordinates of the intermediate target points P,,P,・P, are calculated, and these intermediate target points P,,P,・P,
The coordinate data of is sent to the guidance computer 4 as the data of the guidance target point Q together with the coordinate data to the final target point, and is stored in the storage unit 7.

On the other hand, the arithmetic processing unit 8 of the guidance computer 4 monitors the current position information (position, velocity, acceleration) S of the missile 3 from the inertial device 9 mounted on the missile 3, and determines when the missile 3 reaches a specific position. It has a function of switching the data of the guide point Q input to the navigation calculation section 10.

That is, the intermediate target points P, , P stored in the storage unit 7
2...Pn and the coordinate data to the final target point are called out in the order of intermediate target points p, , p, . Then, the data is input to the navigation calculation unit 10 as data on the guidance target point Q required by the navigation calculation unit 10.

The navigation calculation unit 10 performs navigation calculations using, for example, proportional navigation based on the data of the guidance target points Q that are sequentially switched, and outputs an acceleration command C to the autopilot 5. When the autopilot 5 receives the acceleration command C, it controls the aircraft's attitude etc. in accordance with the acceleration command C. Furthermore, the movement of the aircraft is detected by the inertial device 9 and sent to the navigation calculation unit 1.
It is fed back to 0.

Figure 1 shows the algorithm for switching the guidance target point using the two-part system.
The coordinate data of the first intermediate target point P is set in the arithmetic processing unit 8 and input to the navigation calculation unit 10,
Therefore, the missile 3 launched from the launcher 1 makes an inertial flight toward the first intermediate point [J marker p] in FIG. 2 by proportional navigation.

When the missile 3 approaches the intermediate target point P1 of No. 1 [1 and the distance d between the position of the intermediate target point P1 and the missile 3 becomes less than the preset switch range d1, the arithmetic processing unit 8 starts the navigation calculation. In order to switch the data of the guidance target point Q manually entered in the section 10, the coordinate data of the second intermediate gage point P is read from the storage section 7 and set, and the coordinates of the second intermediate target point P are set. The data is input to the navigation calculation section 10.

As a result, missile 3 reaches the second intermediate target point P.

Perform an inertial flight towards the target.

This procedure is repeated until the missile 3 approaches the final intermediate target point Pn, and the missile 3 reaches the final intermediate target point r),...
When the switch approaches the predetermined switch range from dn to F, the arithmetic processing unit 8 reads the coordinate data of the final target point A from the storage unit 7 using the data of the guide port point Q and sets it. , the coordinate data of this final target point A is input to the navigation calculation section 10. As a result, the missile 3 will perform an inertial flight toward the final target, which is the impact target point, using proportional navigation as described in -.

Here, in the embodiment described in -1-, the launch platform and the final target point Δ are both on the ground, but the launch platform may be located on a surface ship or an aircraft, and the final target point A may also be in the air or the sea.

Furthermore, navigation methods other than proportional navigation may also be used.

According to the present invention, the reference trajectory of the projectile from the launch point to the final target point is represented by at least one intermediate target point in space, and proportional navigation, etc. By making it fly according to a specific algorithm, the capacity of the storage device can be reduced (
The control amount increases only at the intermediate target point, and other than that, a large control amount is not required, so the total control amount is small and the energy source for control can be downsized.

[Brief explanation of the drawing]

FIG. 1 is a flowchart showing one embodiment of the present invention, and FIG.
FIG. 3 is a schematic diagram showing a missile operating method according to the present invention, FIG. 3 is a block circuit diagram for executing the process shown in FIG. 1, and FIG. 4 is a schematic diagram showing a conventional guidance method. 1. Launcher, 2. Launch control device, 3. Missile as a flying object, 4. Guidance computer, 6. Reference trajectory, 7. Storage unit, 8. Arithmetic processing unit, 9. - Inertial device, 10... Navigation calculation unit, P,, P,, Pn... Intermediate target point, A... Final target point.

Claims (1)

[Claims] (1) In a method of guiding a flying object using inertial guidance, one or more intermediate target points in space are set in advance as trajectory data from the launch point to the final target point, and the first intermediate target point from the launch point is To reach the target point, the flying object is guided by a specific algorithm such as proportional navigation using the first intermediate target point as the guidance target point, and when the flying object approaches the first intermediate target point by a specific distance, A method for guiding a flying object, characterized in that the guiding target point is switched to the next intermediate target point or the final target point, and then the flying object is sequentially guided using an algorithm similar to the above.