JPH0743095A - Guidance system - Google Patents

Abstract

PURPOSE:To prevent a plurality of airframes from aiming at the same target. CONSTITUTION:A guidance system 1 is provided with an aerial line direction changing means 2, changing the directing directions of aerial lines 12, 13, a transmitting means 3, radiating ratio wave from aerial lines. a receiving means 4, receiving radio wave, a target detecting means 5, an angle measuring means 6, a range measuring means 7 and a driving switching means 8. When first and second target detecting signals S8, S9 are outputted under a condition that respective receiving outputs S5, S6 are lower than set levels, the angle measuring means outputs an angle measuring signal S11, showing the angle of a target 11, and a continuous receiving signal S10, the range measuring means obtains the value of distance to the target 11 and outputs an another target receiving signal S13 and changes the transmitting and receiving frequencies of the transmitting means and the receiving means. When the driving switching means has received only a first target detecting signal S8, a second target detecting signal S9 or both of first and second target detecting signals S13, the driving switching means switches the direction of an airframe into a direction shown by the angle measuring signal S11.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guide device for guiding a flying object to a target by utilizing reflected radio waves.

[0002]

2. Description of the Related Art As this type of guiding device, there is a guiding device provided on a flying object such as a missile. This guidance device includes an antenna, a transceiver, and an operation switching device,
During the flight, the transmitter / receiver transmits and receives radio waves while changing the pointing direction of the antenna of the flying object to search for a target. That is, a certain reception level is set in advance, and when the reception level of the reflected wave exceeds the certain reception level, it is considered that the target exists in the pointing direction of the antenna. Then, at this point, the target search is stopped, the operation switching device is operated, and the flying object is guided toward the target. However, in the above-described guidance device, when the reception level of the reflected wave exceeds a predetermined reception level set in advance, it is considered that the target exists in the pointing direction of the antenna, and the structure is such that the flying object is guided in that direction. Therefore, the following problems occur. When a plurality of projectiles equipped with this guidance device are performing target search activities, the search ranges of these projectiles may partially overlap. In such a case, if a target exists in the overlapping range, all flying objects will head toward this target. That is, when the flying object is a missile, so-called overkill occurs.

As a conventional technique for solving this problem, there is, for example, the invention described in Japanese Patent Application Laid-Open No. 3-168597. According to the present invention, a first projectile equipped with a guidance device discriminates a target by searching and irradiates a beam to the target while guiding a plurality of other projectiles not provided with the guidance device to the target. Is. That is, so-called overkill is prevented by the first flying body guiding only one other flying body to the target.

[0004]

However, in the above-mentioned conventional technique, since the first flying object provided with the guiding device guides another flying object to the target, When a failure or the like occurs, all the other flying objects are strayed, and there is a problem that the guidance is lacking in reliability.

The present invention has been made in view of the above problems, and provides a guidance device capable of preventing a plurality of flying objects from heading to the same target and having excellent guidance reliability of the flying objects. The purpose is to do.

[0006]

In order to achieve the above object, the guidance device of the present invention is a guidance device for guiding a flying object to a target while transmitting and receiving radio waves through the antenna, and changing the pointing direction of the antenna. Means for changing the direction of the antenna,
Transmitting means for radiating the radio wave of a predetermined frequency from the antenna, receiving means for receiving the radio wave captured by the antenna, and outputting a first target detection signal when the reception output of the receiving means is above a set level Based on the received output from the receiving means and the target detecting means that outputs the second target detecting signal when the received output from the receiving means, which is different from the received output, is equal to or higher than the set level. The arrival angle of the radio wave from the directional center of the antenna is measured, and the arrival angle of the radio wave when the target detecting means outputs the first target detection signal and the second target detection signal are output. An angle measuring means for outputting an angle measuring signal indicating an angle to the target and a continuous reception signal when the time when the arrival angle of the radio wave is substantially the same exceeds a set time width, and the target detecting means. Above The distance value to the target when the first target detection signal is output and the distance value to the target when the second target detection signal is output are obtained, and the difference between these distance values is constant. Sometimes a different target reception signal is output and a distance measuring means for changing the transmission / reception frequency of the transmission means and the reception means, only the first target detection signal, or only the second target detection signal, or the first and the first Second
When receiving the target detection signal and the above target reception signal,
A drive switching unit that changes the direction of the flying object to the direction indicated by the angle measurement signal is provided.

The antenna direction changing means is connected to a search control signal generator for outputting a search signal and an output side of the search control signal generator via a switch, and a pair of antennas are connected to each other based on the search signal. A movable antenna driver is provided, and the transmission means outputs a frequency control signal generator that outputs a frequency signal indicating a predetermined frequency based on the another target reception signal, and a frequency signal from the frequency control signal generator. A transmitter 19 that outputs a transmission wave to the pair of antennas based on the above, and the receiving means is a frequency band indicated by a frequency signal from the frequency control signal generator among the reception waves of the pair of antennas. Each of the received waves of, and a pair of receivers for respectively outputting a DC voltage signal corresponding to the power of each received wave, the target detection means, from the pair of receivers A first target detector that outputs the first target detection signal when the applied DC voltage signals are at or above a preset level, and these signals are one or more types of signals; When the DC voltage signal input from the receiver is equal to or higher than a preset level and these signals are two or more kinds of signals, the second
A second target detector that outputs a target detection signal, and the angle measuring means calculates an arrival angle of the received wave with respect to the center direction of the antenna from the ratio of the DC voltage signals input from the pair of receivers. Then, from the angle measurement calculator that outputs the voltage signal corresponding to this arrival angle as the angle measurement output and the angle measurement value of the voltage signal input momentarily from the angle measurement calculator, the first target detection signal and the first target detection signal The first and second target angle extractors that extract and hold the angle measurement values synchronized with the output timing of the two target detection signals are substantially the same as the angle measurement values from the first and second target angle extractors. And a time determining device that outputs an angle-measuring signal when the time width exceeds a preset time length, and the distance measuring means uses the transmission interval signal output from the transmitter to transmit the transmission signal. After the waves are emitted, the first and second target detection signals are It measures the time until the force,
First and second distance measuring calculators which respectively output as time values,
When the time values from the first and second distance measuring calculators are input and the time width in which the difference between the time values is constant exceeds a preset time length, the different target reception signal The target switching signal is output to the drive switching means, only the first target detection signal or only the second target detection signal, or the first target detection signal, the second target detection signal and another target reception. When all the signals are input, the switch is controlled so that the angle measurement signal from the time determination unit is input to the antenna drive circuit.

[0008]

According to the above guiding device, the transmitting means radiates a radio wave of a predetermined frequency from the antenna whose direction is changed by the antenna direction changing means. The reflected wave from the target of this radio wave is captured by the receiving means via the antenna.

When the reception output of this receiving means is above the set level, the first target detection signal is output from the target detection means, and when the reception output other than this reception output is above the set level, the second target detection signal. Is output. And the first
When the time when the arrival angle of the radio wave when the target detection signal is output is substantially the same as the arrival angle of the radio wave when the second target detection signal is output exceeds the set time width, the angle measuring unit outputs An angle measurement signal indicating an angle to the target and a continuous reception signal are output. On the other hand, in the distance measuring means, the difference between the distance value to the target when the first target detection signal is output and the distance value to the target when the second target detection signal is output is constant. At the same time, another target reception signal is output, and the transmission / reception frequencies of the transmission means and the reception means are changed. Then, when only the first target detection signal, only the second target detection signal, or the first and second target detection signals and another target reception signal are input to the drive switching means, the drive switching means causes the flying object to move. The direction is changed to the direction indicated by the angle measurement signal.

When the reflected wave from the guide device for another flying object is received, the distance measuring means outputs the distance value to the target and the second target detection signal when the first target detection signal is output. The difference from the distance value to the target at this time becomes constant, another target reception signal is output, and the transmission / reception frequency of the transmission means and the reception means is changed. As a result, after that, the reflected wave by the guide device of another flying object is no longer received, and another target reception signal is not output from the distance measuring means, so that the drive switching means does not operate and the flying device equipped with the present guide device The body does not turn around and follow the target.

Further, when a failure occurs in a projectile equipped with the present apparatus, the above-mentioned other projectile independently goes to the target by its guiding device.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a guiding device according to an embodiment of the present invention. The guidance device 1 includes an antenna 12,
13, the antenna direction changing section 2 for changing the direction of the antenna 13, the transmitting section 3 for transmitting the transmission wave S2 to radiate radio waves from the antennas 12, 13, and the reflected wave S3 caught by the antennas 12, 13.
A receiving unit 4 for receiving S4, and a target detecting unit 5 for outputting a first target detecting signal S9 and a second target detecting signal S9 when the DC voltage signals S5, S6 from the receiving unit 4 are above a certain level. , The angle measuring unit 6 which outputs the continuous reception signal S10 and the angle measuring signal S11 based on the DC voltage signals S5 and S6 from the receiving unit 4, and the distance to the target 11, and the target detecting unit 5 detects the first target. A target distance determination unit 7 that outputs another target reception signal S13 when the difference between the distance when the signal S8 is output and the distance when the second target detection signal S9 is output is constant.
And another target reception signal S13, first target detection signal S8, second target detection signal S8
The target detection signal S9 and the continuous reception signal S10 are input, and a drive switching unit 8 that switches the guiding direction of the flying object on which the guiding device 1 is mounted under a certain condition.

The antenna direction changing section 2 has a search control signal generator 16 for outputting a search signal S1 and an antenna driver 18 connected to the output side of the search control signal generator 16 via a switch 17. This antenna driver 18
The antennas 12 and 13 are movable based on the search signal S1. As a result, the antennas 12 and 13 having the directional patterns 14 and 15 whose directions have changed are
It is designed to catch 1. The transmitter 3 includes a transmitter 19
And a frequency control signal generator 33.

The frequency control signal oscillator 33 is for outputting the frequency signal S14 indicating a predetermined frequency to the transmitter 19 and the receivers 22 and 23 of the receiver 4 which will be described later. When the frequency control signal generator 33 receives another target reception signal S13 described later, the frequency control signal generator 33 outputs a frequency signal S14 different from the frequency signal S14 that has been output so far to transmit the transmission wave S2. It has a function of changing the frequency and the range of the reception frequency of the receivers 22 and 23.

The transmitter 19 includes a frequency control signal generator 33.
This is for outputting the transmission wave S2 to the antennas 12 and 13 via the circulators 20 and 21 based on the frequency signal S14 from the. Thereby, based on the transmission wave S2 transmitted from the transmitter 19 of the transmitter 3, the antenna 1
Radio waves are radiated from the antennas 2 and 13, and a part of the radio waves is caught by the antennas 12 and 13 again as a reflected wave.

The receiving unit 4 comprises two receivers 22 and 23. The reflected wave S3 captured by the antenna 12 is received by the receiver 22 via the circulator 20, and the reflected wave S4 captured by the antenna 13 is received. It is adapted to be received by the receiver 23 via the circulator 21. Further, these receivers 22 and 23 detect the reflected waves S3 and S4 received, and the DC voltage signals S5 and S6 corresponding to their respective powers.
It has a function of converting into (1) and outputting to the target detecting section 5 and the angle measuring section 6. Since these receivers 22 and 23 receive based on the frequency signal S14 of the frequency control signal generator 33, only the reflected waves S3 and S4 having the frequency indicated by the frequency signal S14 will be received.

The target detecting section 5 receives the DC voltage signals S5 and S6 from the receivers 22 and 23, respectively, and outputs the first target detecting unit 2 to the target detecting unit 2.
5 and a second target detector 26. When the DC voltage signals S5 and S6 input from the receivers 22 and 23 are at a preset level or higher, and these signals are one or more types of signals, the first target finder 25 detects
It has a function of outputting the target detection signal S8. Also,
The second target detector 26 detects the second target when the DC voltage signals S5 and S6 input from the receivers 22 and 23 are at or above a preset level and these signals are two or more types of signals. It has a function of outputting the detection signal S9.

The angle measuring unit 6 is composed of an angle measuring calculator 24, a first target angle extractor 27, a second target angle extractor 28, and a time determining unit 29. The angle-measuring calculator 24 is the receiver 2
From the ratio of the DC voltage signals 105 and 106 input from Nos. 2 and 23, the arrival angle φ of the received reflected wave with respect to the center direction of the antennas 12 and 13 is calculated, and the voltage signal S7 corresponding to this arrival angle φ is used as the angle measurement output. It has a function of sending to the first target angle extractor 27 and the second target angle extractor 28.

The first target angle extractor 27 and the second target angle extractor 28 select the first target detection signal S8 and the first target detection signal S8 from the angle measurement values of the voltage signal S7 input momentarily from the angle measurement calculator 24. Two
It has a function of extracting and holding an angle measurement value synchronized with the output timing of the target detection signal S9.

The time determining unit 29 continues when the time width in which the angle measurement values from the first and second target angle extracting units 27 and 28 are substantially the same exceeds a preset time length. The reception signal S10 and the angle measurement signal S11 are output. The target distance determination unit 7 includes the first distance measuring calculator 30 and the second distance measuring calculator 30.
It is composed of a distance measurement calculator 31 and a target distance determiner 32.

The first and second distance measuring calculators 30 and 31 are connected to the first and second target detectors 25 and 26 and the transmitter 19, respectively. As a result, the first and second distance measuring calculators 30 and 31 can detect the first target detection signal S8 and the second target detection signal after the transmission wave S2 is radiated by the transmission interval signal S12 output from the transmitter 19. The time until the output of S9 is measured and output as a time value to the target distance determiner 22.

The target distance determiner 32 inputs the above time values from the first distance calculating calculator 30 and the second distance calculating calculator 31, and the time width in which the difference between these time values is constant is preset. When the set time length is exceeded, another target reception signal S13
Has the function of outputting. Therefore, when the time value is input only from the first distance measuring arithmetic unit 30 and the time value is not input from the second distance measuring arithmetic unit 31, there is no difference between the time values, so that another target reception is performed. The signal S13 is not output. The output side of such an inter-target distance determiner 32 is connected to a switch switching unit 34 as the drive switching unit 8 and a frequency control signal generator 33.

The switch switching section 34 is connected not only to the output side of the inter-target distance determining device 32 but also to the output sides of the first target detecting device 25, the second target detecting device 26 and the time determining device 29. Thus, the separate target reception signal S13, the first target detection signal S8, the second target detection signal S9, and the continuous reception signal S10 are respectively input. This switch changer 34
Is the switch 17 when only the first target detection signal S8 or only the second target detection signal S9, or the first target detection signal S8, the second target detection signal S9 and the other target reception signal S13 are all obtained. , 35 is switched from the state shown in the figure to the opposite state. That is, the switch selector 34 controls the switch 17 to disconnect the connection between the search control signal generator 16 and the antenna driver 18, and also connects the time determiner 29 and the antenna driver 18 to each other. To do. Then, the switch 35 is controlled to bring the time determining device 29 and the induction signal output terminal 36 into a connected state.

Next, the operation of the guiding device 1 of this embodiment will be described. First, a case will be described in which a flying object equipped with the guiding device 1 is searching for the target 11 by itself. During the flight of the flying object, the transmission wave S2 from the transmitter 19 is transmitted through the circulators 20, 21 to the antenna 12, based on the frequency indicated by the frequency signal S14 of the frequency control signal generator 33.
13 and the radio waves are transmitted from the antennas 12 and 13. During the search for the target, the target 11 is the antenna 12,
When entering the directivity patterns 14 and 15 of 13, the antenna 1
The reflected wave from the target 11 of the radio waves from 2 and 13 is the antenna 1
2 and 13 are received by the receivers 22 and 23 via the circulators 20 and 21 as reflected waves S3 and S4, respectively.

Then, the DC voltage signals S5 and S6 are output from the receivers 22 and 23 to the target detecting section 5 and the angle measuring section 6. At this time, since the target 11 is one, the receivers 22 and 2
The DC voltage signals S5 and S6, which are input to the first and second target detectors 25 and 26 from 3 and are above the set level, are one type of signal. Therefore, the first target detection signal S8 is output only from the first target detector 25 of the target detection unit 5,
The second target detector 26 does not output the second target detection signal S9. Then, the first target detection signal S8 is input to the first target angle extractor 27 of the angle measuring unit 6, the first and second distance measuring calculators 30 of the target distance determining unit 7, and the switch selector 34. It

On the other hand, in the angle measuring unit 6, the DC voltage signal S5,
From the angle measurement calculator 24 that receives S6, the received reflected waves S3,
A voltage signal S7 corresponding to the arrival angle φ of S4 is output and input to the first and second target angle extractors 27 and 28. Then, by the first target angle extractor 27 and the second target angle extractor 28, from the angle measurement values indicated by the voltage signal S7,
An angle measurement value synchronized with the timing of the target detection signal S8 is extracted and output to the time determination unit 29. In the time determination unit 29, the time width in which the angle measurement values from the first and second target angle extractors 27 and 28 are the same exceeds the preset time length, so the continuous reception signal S10 and the angle measurement signal S11 And are output from the time determiner 29.

Further, in the target distance determination section 7, the first
Since only the target detection signal S8 is input to the first distance measuring arithmetic unit 30, another target reception signal S13 is output from the inter-target distance determining unit 32.
Is never output. Therefore, the first target detection signal S8 and the continuous reception signal S10 irrelevant to the switching control are input to the switch changeover unit 34, and the switch changeover unit 34 causes the switch 17 and the switch 3 to operate.
And 5 are switched.

By this switching control of the switch selector 34, the angle measurement value corresponding to the reflected wave arrival angle φ of the target 11 is sent from the time determining unit 29 to the antenna driver 18, and the directions of the antennas 12 and 13 are changed. The arrival angle φ can be changed to be zero. In addition, the angle measurement value from the time determination unit 29 is set to the switch 3
It is output as an induction signal from the induction signal output terminal 36 via 5. As a result, the direction of the flying object is changed, and the flying object alone advances toward the target 11.

Next, another flying object equipped with the same guidance device as the main guidance device 1 is in the state of detecting near the target 11 and irradiating the target 11 with the transmitted wave.
A case will be described in which the flying object equipped with is searching for the target 11 at a distance from the target 11.

In such a case, the target 11 by this flying object
Since two types of reflected waves from the target 11 by the flying object and another flying object are received by the antennas 12 and 13, they are input from the receivers 22 and 23 to the first and second target detectors 25 and 26. DC voltage signals S5, S6 above the set level
Are two types of signals. Therefore, both the first and second target detectors 25 and 26 of the target detecting unit 5 output the first and second target detection signals S8 and S9, respectively. As a result, the first and second target detection signals S8,
S9 is input to the first and second distance measuring calculators 30 and 31,
The different target reception signal S13 is output from the target distance determiner 32 to the switch selector 34. Then, since this different target reception signal S13 is input to the frequency control signal generator 33, a frequency signal different from the frequency signal S14 output up to now is output to the transmitter 19 and the receivers 22 and 23. To do. As a result, the range between the transmission frequency of the transmission wave S2 from the transmitter 19 and the reception frequency of the receivers 12 and 13 is changed, so that each induction device transmits and receives at different frequencies. Therefore, the receivers 22 and 23 of the guide device 1 of the present flying vehicle cannot receive the reflected wave from the other guiding device, so that the inter-target distance determiner 32 of the guide device 1 of the present flying vehicle receives The different target reception signal S13 is not output.

As a result, the switch changer 34 of the guiding device 1 does not satisfy the above-mentioned certain condition, and does not perform the change control. As a result, the guiding device 1 does not track the previous target 11 and moves to another target 11.
Will continue to search.

As described above, according to the guiding device 1 of this embodiment, when a plurality of flying objects are searching for the target 11, only one flying object tracks the target 11 and the other flying objects are searched. Since the body does not track the target 11, a plurality of flying objects are not guided to the target 11. Therefore, even when the guidance device 1 is used as a guidance device for a missile or the like, so-called overkill does not occur.

[0033]

As described above, according to the guiding device of the present invention, when the reflected wave from the guiding device of another flying object is received, another target reception signal is not output from the distance measuring means, so that the driving is performed. The switching means does not work. Therefore, the flying body provided with the present guiding device does not change direction to follow the target, and as a result, it is possible to prevent a situation in which a plurality of flying bodies head for the same target.

Further, even when a failure occurs in one flying object equipped with this device, another flying object individually goes to the target by the guiding device, so that a single flying object is surely guided to the target. be able to.

[Brief description of drawings]

FIG. 1 is a block diagram showing a guidance device according to an embodiment of the present invention.

[Explanation of symbols]

 1 guidance device 2 antenna direction changing unit 3 transmitting unit 4 receiving unit 5 target detecting unit 6 angle measuring unit 7 distance measuring unit 8 drive switching unit 11 target 12, 13 antenna S5, S6 DC voltage signal S8 first target detecting signal S9 first 2 Target detection signal S10 Continuous reception signal S11 Angle measurement signal S13 Different target reception signal

Claims (2)

[Claims] 1. A guidance device for guiding a flying object to a target while transmitting and receiving radio waves by an antenna, and antenna direction changing means for changing a pointing direction of the antenna, and radiating the radio wave of a predetermined frequency from the antenna. A transmitting means, a receiving means for receiving the radio wave captured by the antenna; and a first output when the reception output of the receiving means is equal to or higher than a set level.
Target detection means for outputting a target detection signal and outputting a second target detection signal when the reception output from the reception means, which is different from the reception output and is higher than a set level, and the reception means The arrival angle of the radio wave from the directional center of the antenna is measured based on the reception output of the antenna, and the arrival angle of the radio wave and the second target detection signal when the target detection means outputs the first target detection signal. When the time when the arrival angle of the radio wave when outputting is approximately the same as the time when the time exceeds a set time width, an angle measuring means that outputs an angle measuring signal indicating an angle to the target and a continuous reception signal. A distance value to the target when the first target detection signal is output from the target detection means and a distance value to the target when the second target detection signal is output, and these distances are calculated. If the difference in value is constant And a distance measuring means for changing the transmission / reception frequency of the transmitting means and the receiving means while outputting another target reception signal to the first and second target detection signals, or the first and the first target detection signals. 2. A guide switching device, comprising: drive switching means for switching the direction of the flying object to the direction indicated by the angle measurement signal when receiving the two target detection signal and the another target reception signal. 2. The antenna direction changing means is connected to a search control signal generator for outputting a search signal and an output side of the search control signal generator via a switch, and a pair of antennas are connected to each other based on the search signal. A movable antenna driver is provided, and the transmission means outputs a frequency control signal generator that outputs a frequency signal indicating a predetermined frequency based on the another target reception signal, and a frequency signal from the frequency control signal generator. A transmitter 19 that outputs a transmission wave to the pair of antennas based on the above, and the receiving means is a frequency band indicated by a frequency signal from the frequency control signal generator among the reception waves of the pair of antennas. And a pair of receivers that respectively output DC voltage signals corresponding to the powers of the respective received waves, and the target detection means inputs from the pair of receivers. A first target finder that outputs the first target detection signal when the DC voltage signal is equal to or higher than a preset level, and these signals are one or more kinds of signals; and the pair of reception signals. A second target detection signal is output when the DC voltage signal input from the machine is equal to or higher than a preset level and these signals are two or more types of signals.
The angle measuring means calculates the angle of arrival of the received wave in the central direction of the antenna from the ratio of the DC voltage signals input from the pair of receivers, and corresponds to this angle of arrival. From the angle measurement calculator that outputs the voltage signal as the angle measurement output and the angle measurement value of the voltage signal that is input momentarily from the angle measurement calculator, the first
First and second target angle extractors for extracting and holding the angle measurement values synchronized with the output timings of the target detection signal and the second target detection signal, and the angle measurement values from the first and second target angle extractors And a time determiner that outputs an angle measurement signal when the time widths that are substantially the same exceed a preset time length, and the distance measuring means is a transmission interval output from the transmitter. A first and a second distance measuring calculator for measuring the time from the emission of the transmitted wave to the output of the first and second target detection signals by a signal, and outputting each as a time value; When the time values from the first and second distance measuring calculators are input and the time width in which the difference between the time values is constant exceeds a preset time length, the different target reception signal And a drive distance switching means for outputting the above-mentioned first target search. When only a signal, or only the second target detection signal, or all of the first target detection signal, the second target detection signal and another target reception signal is input, the switch is controlled and 2. The guidance device according to claim 1, wherein the angle measurement signal is input to the antenna drive circuit.