JPH06273098A - Airframe - Google Patents

Abstract

PURPOSE:To provide an airframe which effectively perform a duty by capturing a target within a shooting range of a nose. CONSTITUTION:The airframe comprises a gliding parachute 2, a nose 31, actuators 11, 12 for operating steering cables 5, 6 and a hanging cable 4 of the parachute 2, a thrust generating mechanism 15, a millimeter wave sensor 34 for turning at a speed proportional to a magnitude of the thrust generated from the mechanism 15, an infrared ray sensor 35 and an inertial navigator 14. The airframe further comprises a navigation guiding calculator 13 for sending a search control signal for flying along a route.altitude preset by position data and altitude data, a tracking control signal for accelerating.lowering toward a target with target sensed data, and a reset control signal for identifying truth or false of the target to rerise in a state for judging a false target in response to stages of searching, tracking and resetting to the mechanism 15 and the actuators 11, 12.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a projectile equipped with a warhead, in which the target is searched and identified while flying, and the target is caught within the range of the warhead to initiate detonation. It is about.

[0002]

2. Description of the Related Art Conventionally, as a flying body of this type, for example, there is one shown in FIGS.

A flying body 51 shown in FIG. 5 has a rotary umbrella 52 in which three parachutes 52a are bundled so as to rotate as they descend, and an inclination θ of the rotary umbrella 52 with respect to the vertical direction.
Cylindrical warhead 5 suspended at about 30 °
3 and a target detection sensor 54 which is provided on the warhead 53 and turns by the rotation of the rotary umbrella 52. When the altitude reaches a predetermined altitude, the sensor 54 operates to combine the descending motion and the turning motion. It starts a spiral search by detecting the target T1 and detects the target T1 within the range of the warhead 53.
The warhead 53 was detonated when 1 was captured.

A flying body 61 shown in FIG. 6 (a) is a gliding parachute 62 and a spin fin 63 suspended from the gliding parachute 62.
It is equipped with a warhead 63 having a and a target detection sensor 64 provided on this warhead 63. As shown in FIG. 6B, when the predetermined altitude is reached, the spin fin 63a is unfolded. The generated aerodynamic force causes the warhead 63 to rotate and the sensor 64 to turn, and at the same time the flying object 61 itself glides in a circular shape to perform a target search, and when the target T2 is detected, the spin fin 63a is operated to move toward the target T2. The glide was made to start when the target T2 was captured within the range of the warhead 63.

Regarding the above-mentioned flying bodies 51 and 61, for example, "Latest Defense Technology Taisei" R & D Planning Co., Ltd., February 11, 1985, pp. 188-
The explanation is given on page 189.

[0006]

However, in the above-described conventional flying object 51, since the target T1 is searched and identified while descending almost vertically, the search range of the flying object 51 is narrow and the target T1 is not detected. Since it is not possible to spend a lot of time on the identification, there is a possibility that the target T1 may not be found or may be erroneously recognized, and a task may not be able to be performed on the moving target T1. Was there.

In the flying body 61, the target T
Since the search / identification of No. 2 is performed, the search range becomes narrower as the altitude becomes lower, like the above-mentioned flying object 51. Especially, when the cloud height is low, the search is started near the ground surface. Has a problem that it may happen that the target T2 is missed.

Further, although the flying body 61 glides by itself, it is almost impossible to ascend again to continue the search once the false target is approached. In addition, the target T2 When the target T2 is moving, tracking to a certain extent is possible, but if the target T2 is high speed, the target T2 cannot be caught or the target T2 is not updated during the data update by the sensor 64.
There is a possibility of losing sight of them, and it has been a conventional problem to solve these problems.

[0009]

SUMMARY OF THE INVENTION The present invention has been made in view of the problems of the prior art, and it is possible to greatly widen the search range and to continue the search by re-climbing even if the false target is once approached. In addition, it is an object of the present invention to provide a flying object that can perform a mission reliably by tracking without missing the target even when the target is moving at high speed.

[0010]

A projectile according to the present invention comprises a gliding parachute, a warhead suspended from the gliding parachute, a servo section for operating the control line and the suspension line of the gliding parachute, and thrust generation. Thrust generating mechanism, target detecting means for detecting a target and measuring the ground altitude by turning at a rotational speed proportional to the magnitude of the thrust generated by the thrust generating mechanism, and position detection is performed to obtain position data. In addition to an inertial navigation device, a search control signal that causes a flight along a preset route / altitude based on position data obtained by the inertial navigation device and altitude data obtained by the target detection means, and the target detection The target detection data obtained from the means is used to discriminate between the tracking control signal for accelerating and descending toward the target and the true or false of the target. It is characterized in that it is provided with a navigation guidance arithmetic unit for sending a return control signal for re-elevating in the state determined to be to the thrust generation mechanism and the servo unit according to each stage of search, tracking and return. The structure of such a flying object is used as a means for solving the above-mentioned conventional problems.

[0011]

When the flying vehicle according to the present invention opens the gliding parachute and operates the thrust generating mechanism to generate thrust in the sky above the target area, it starts flying while rotating the target detecting means.

Until the target is detected, the navigation control unit grasps the present situation by using the position data obtained by the inertial navigation device and the altitude data obtained by the target detecting means, and the search control signal outputs the thrust force. Since it is sent to the generation mechanism and the servo unit, this flying object will search and fly along a preset route / altitude, and the search range will be wide.

Next, when the target is detected by the target detecting means and the target detection data is sent to the navigation guidance calculation device,
A tracking control signal that accelerates and descends toward the target is sent from this navigation guidance computing device to the thrust generation mechanism and the servo unit, so the thrust generated by the thrust generation mechanism increases and the flight speed increases, as well as the operation in the servo unit. When the gliding parachute decreases the angle of attack due to the rope operation and the suspension rope operation, it descends toward the target, and the warhead is detonated when the distance to the target obtained by the target detection means falls within the range of the warhead. To do.

During this time, as the thrust generated by the thrust generating mechanism increases, the number of turns of the target detecting means also increases, so that the update rate of the target detection data and the ground altitude measurement data increases. .

In other words, this flying object will surely follow the target and perform the task without failing to catch up with or overlooking the target.

Further, when the true or false of the target is discriminated and the target is discriminated as the false target while tracking the target, a return control signal for re-raising is sent from the navigation guidance arithmetic unit to the thrust generating mechanism and the servo section. , This projectile will rise again without stalling, and the above-mentioned preset route
It will return to altitude and continue the search flight.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings.

1 to 4 show an embodiment of a flying object according to the present invention.

As shown in FIG. 2A, this flying object 1
Is a gliding parachute 2 and a flying body 10 suspended from the gliding parachute 2.
And a bullet head 30 also suspended from the flying body main body 10 on the gliding parachute 2. The gliding parachute 2 includes a wing canopy 3, a large number of suspension ropes 4, and left and right control ropes 5, 6. It consists of

As shown in FIG. 1, the flying body main body 10 includes a suspension rope actuator 11 and a steering rope actuator 12 as a servo unit for pulling out the suspension rope 4 and the steering ropes 5 and 6 of the gliding parachute 2, respectively. The case 16 includes a navigation guidance calculation device 13, an inertial navigation device 14 for detecting position to obtain position data, and a thrust generation mechanism 15 for generating thrust.

In this case, the thrust generating mechanism 15 includes a gas generator 17, a turbine 18a built in a turbine box 18 connected to the gas generator 17 via orifice opening / closing valves 17a and 17b, and a rotating shaft 18b of the turbine 18a. And a propeller 20 mounted on an output shaft 19a of the output side gear box 19 projecting from the rear surface (right side surface in FIG. 1) of the case 16 and the thrust generating mechanism. At 15, the gas is introduced into the turbine box 18 from the gas generator 17 through the orifice opening / closing valves 17a and 17b to rotate the turbine 18a, and the propeller 20 is rotated by this rotation output transmitted through the rotating shaft 18b and the output side gear box 19. Generates flight thrust by driving It is the way to.

Further, the projectile body 10 includes the thrust generating mechanism 1
An auxiliary battery 22 used when a trouble occurs in 5 and a generator 23 that uses the rotation of the propeller 20 to generate electric power to be supplied to various electronic devices are provided in the case 16.

The warhead 30 has a molded explosive charge 31a.
The warhead 31 having the concave dish-shaped liner 31b adjacent thereto is housed in the cylindrical case 33. The liner 31b is provided downward and below the projectile body 10. The cylindrical case 33 incorporates a millimeter wave sensor 34 and an infrared sensor 35 which constitute a target detecting means.

The bullet head 30 is provided in the cylindrical case 3
A bracket 33a is provided on the peripheral edge portion of the upper surface of 3, and the suspension shaft 36 having one end rotatably supported by the output portion 21a of the target detection means driving gear 21 connected to the rotation shaft 18b of the turbine 18a. End this bracket 3
It is connected to the flying body main body 10 by being rotatably supported by 3a. That is, the warhead 30 is fixed to the projectile body 10 by pulling the suspension shaft 36 toward the projectile body 10 side and locking it with the fixing device (not shown), and unlocks the securing device (not shown) to suspend the projecting body 30. By opening the shaft 36 from the projectile body 10, as shown in FIG.
As shown in FIG. 5, the projectile body 10 is suspended from the main body 10, and in this suspended state, the warhead 30 rotates in conjunction with the rotation of the turbine 18a of the thrust generating mechanism 15, that is, The millimeter wave sensor 34 and the infrared sensor 3 are rotated at a rotational speed according to the thrust of the thrust generation mechanism 15.
5 is turned.

The millimeter wave sensor 34 and the infrared sensor 35 measure the altitude to the ground and detect the target during the turning, and the data obtained by the sensors 34 and 35 are obtained by the inertial navigation system 14. The navigation data is sent to the navigation guidance calculation device 13 together with the obtained position data.
In this navigation guidance operation device 13, an operation is performed based on each data obtained from the inertial navigation device 14, the millimeter wave sensor 34 and the infrared sensor 35, and a search control signal, a tracking control signal, A return control signal is sent to the thrust generating mechanism 15 and both actuators 11 and 12.

This flying vehicle 1 is mounted on a rocket R as shown in FIG. 4 in a state in which the gliding parachute 2 is folded as shown by phantom lines in FIG. 1 and the bullet head 30 is fixed to the flying vehicle body 10. I am doing it. The rocket R includes a payload storage section C located on the head and torso side and having a sequencer S and a supersonic parachute P.
In this embodiment, there are five flying vehicles 1 in the payload storage section C.
Is installed.

Next, the operation of the flying body 1 will be described.

First, the payload storage portion C of the rocket R
However, when the sequencer S disconnects the target area from the sky, and the supersonic parachute P causes the payload storage C to become a subsonic speed as a whole, the five mounted flying vehicles 1 are released all at once.

In the ejected projectile 1, the gliding parachute 2 is opened and the lock of the fixing device (not shown) is released, so that the warhead 30 is released as shown in FIG. 2 (b).
Is suspended from the projectile body 10, and subsequently, the gas generator 17 of the thrust generating mechanism 15 operates to rotate the turbine 18a to drive the propeller 20. The flight is started while the wave sensor 34 and the infrared sensor 35 are turned.

Until the target is detected, the navigation guidance calculation device 13 grasps the situation at this time by the position data obtained by the inertial navigation device 14 and the altitude data obtained by the millimeter wave sensor 34, and searches for it. Since the control signal is sent to the thrust generating mechanism 15, the suspension rope actuator 11, and the control rope actuator 12, the flying body 1 will perform a search flight along a preset route / altitude, and in the end, the search range. Will be wide.

Next, as shown in FIG. 3, when the infrared sensor 35 detects the target in the block 37 and the target detection data is sent to the navigation guidance calculation device 13, a tracking control signal for speeding up the navigation guidance calculation device. Since it is sent from 13 to the gas generator 17 of the thrust generation mechanism 15, the rotation speed of the turbine 18a of the thrust generation mechanism 15 is increased in block 38 and the flight speed is increased in block 39.

At the same time, the altitude data obtained by the millimeter wave sensor 34 in block 37 is sent to the navigation guidance calculation device 13 in block 43, and a tracking control signal for descending toward the target is sent from this navigation guidance calculation device 13. Since it is sent to the suspension rope actuator 11 and the control rope actuator 12, the angle of attack of the gliding parachute is reduced by the operation of the suspension rope actuator 11 in the block 44, and the lift and the resistance are both reduced in the block 45. By operating the control rope actuator 12 in blocks 46 to 49, the flight direction matches the target azimuth. This allows
The projectile 1 descends at a high speed toward the target, and when the distance to the target obtained by the infrared sensor 35 is within the range of the warhead 31, the explosive charge 3 of the warhead 31.
Detonate 1a.

During this time, the flight speed increases, that is, the number of revolutions of the millimeter wave sensor 34 and the infrared sensor 35 in the block 40 increases as the number of revolutions of the turbine 18a of the thrust generating mechanism 15 increases. ,
In block 41, the update rate of the target detection data and the ground altitude measurement data is increased.

In other words, the flying object 1 can reliably track the target without catching or missing the target.

Further, when the true or false of this target is discriminated and the target is discriminated as a false target while the target is being tracked, a return control signal for re-elevating from the navigation guidance operation device 13 is a thrust generation mechanism 1.
5. Since it is sent to the suspension rope actuator 11 and the control rope actuator 12, both the flying speed and the lift of the flying body 1 increase via the block 39 and the block 42, and the flying body 1 stalls. Instead, it will climb again and return to the preset route / altitude to continue the search flight.

The detailed structure of the flying object according to the present invention is not limited to the above embodiment.

[0037]

As described above, according to the flying object according to the present invention, since it has the above-mentioned configuration, it is possible to dramatically expand the search range, and when the false target is once approached, Even if there is, it is possible to climb up again and continue the search, and in addition, it is possible to follow the target moving at high speed without missing it and perform the mission reliably. Is brought about.

[Brief description of drawings]

FIG. 1 is an enlarged cross-sectional explanatory view of a projectile body and a warhead, showing an embodiment of a projectile according to the present invention.

FIG. 2 (a) is an overall perspective explanatory view showing a situation where the flying object in FIG. 1 is searching and flying. FIG. 3B is an enlarged side explanatory view showing the movement of the warhead relative to the flying body main body in FIG.

FIG. 3 is a block diagram illustrating an operation sequence of the flying object shown in FIG. 1 after discovering a target.

FIG. 4 is a partially cutaway side view showing a state in which the flying vehicle of FIG. 1 is mounted on a rocket.

FIG. 5 is an overall perspective explanatory view showing a conventional target search condition of a projectile in which a warhead is suspended on a parachute.

FIG. 6 (a) is an overall perspective explanatory view showing a conventional projectile in which a warhead is suspended on a gliding parachute. FIG. 7B is an overall perspective explanatory view showing a situation where the flying object in FIG. 6A is searching for a target.

[Explanation of symbols]

 1 Flying Body 2 Gliding Parachute 4 Suspension Line 5, 6 Control Line 11 Suspension Line Actuator (Servo Section) 12 Control Line Actuator (Servo Section) 13 Navigation Guidance Calculator 14 Inertial Navigation System 15 Thrust Generation Mechanism 17 Gas Generator (Thrust) Generation mechanism) 18a Turbine (thrust generation mechanism) 19 Output side gear box (thrust generation mechanism) 20 Propeller (thrust generation mechanism) 31 Warhead 34 Millimeter wave sensor (target detection means) 35 Infrared sensor (target detection means)

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location G05D 1/12 F 9323-3H

Claims (1)

[Claims] 1. A gliding parachute, a warhead suspended on the gliding parachute, a servo section for operating the control line and sling line of the gliding parachute, a thrust generating mechanism for generating thrust, and a thrust generating mechanism for generating the thrust. Target detection means for detecting a target and measuring the ground altitude by turning at a rotational speed proportional to the magnitude of the thrust force, and an inertial navigation device for performing position detection to obtain position data. Aiming at the target by a search control signal that causes flight along a preset route / altitude based on the obtained position data and the altitude data obtained from the target detection unit, and the target detection data obtained from the target detection unit. Tracking control signal to speed up / down and return control signal to re-raise when the target is true and false and discriminated as false target A flying vehicle characterized by comprising a navigation guidance calculation device for sending and to the thrust generating mechanism and the servo unit in accordance with each stage of searching, tracking and returning.