JPH08178596A - Detecting device of laser scattered light incidence direction in guiding control of airframe using laser scattered light - Google Patents

Abstract

PURPOSE: To obtain a detecting device of a laser scattered light incidence direction in a guiding control of an airframe using a laser scattered light, which can specify the direction of incidence of the laser scattered light reliably and enables reduction of an error therein in the guiding control of the airframe using the laser scattered light. CONSTITUTION: A laser light detection signal processing part of a detecting device of a laser scattered light incidence direction is equipped basically with current-voltage conversion circuits 3A, 3B, high-pass filters 4, amplifier circuits 5, peak sample hold circuits 8, an A/D conversion circuit 10 and an arithmetic processing circuit 11. In this constitution, the part is equipped with AGC circuits 6 which regulate the gain of the current-voltage conversion circuits in accordance with the amplitude of outputs of the amplifier circuits 5 and with threshold value decision circuits 7 which generate synchronous signals for making sample hold operations of the peak sample hold circuits 8 started when output signals from the amplifier circuits 5 exceed a set threshold value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a laser scattered light incident direction detecting device in guidance control using laser scattered light of a guided flying object, particularly in beam riding type guidance control.

[0002]

2. Description of the Related Art As a guidance control system of a beam riding system, for example, as shown in Japanese Patent Application Laid-Open No. 2-242098, a laser receiver at the rear of the machine determines the direction of deviation between a guided laser pulse and a flying object. It is known to detect and operate a trajectory correcting means such as an impulse thruster corresponding to the direction of the deviation so that the projectile can fly while correcting the path so that it is always at the center of the guided laser pulse. Has been.

In the above-mentioned method, since the guide laser pulse is emitted toward the rear end of the projectile, the projectile guides in the fumes of the rocket motor discharged backward for acceleration. It is necessary to transmit the laser pulse. Moreover, the smoke from the rocket motor has a characteristic of absorbing and scattering the induced laser pulse.

Therefore, there is a problem that the guided laser pulse may not be reliably transmitted to the flying body side, and the direction of deviation between the guided laser pulse and the flying body may not be detected.

Therefore, in Japanese Patent Laid-Open No. 5-45094, as a means for solving the above-mentioned problem, the induction laser pulse is transmitted to the side of the projectile without transmitting the induction laser pulse through the rocket motor smoke. A method for detecting the direction of deviation between a laser pulse and a flying object is disclosed.

This is provided with a plurality of photodetectors having a radial field of view toward the outside of the fuselage at equal positions on the outer periphery of the fuselage, and at the same time, launching a projectile having trajectory correction means in a predetermined direction, The periphery of the fuselage is centered on the flight command direction, and the portion corresponding to the top of the equilateral triangle surrounding the fuselage is irradiated with a guide laser pulse from the rear of the fuselage,
By capturing the laser scattered light from the induced laser pulse with multiple photodetectors and performing a predetermined calculation, the trajectory correction direction of the flying object necessary to correct the deviation between the flight command direction and the aircraft axis It is what you want.

According to this method, when the guide laser pulse is irradiated from the rear of the fuselage to the portion corresponding to the top of an equilateral triangle surrounding the fuselage, the guide laser pulse is not blocked by the rocket motor smoke.

The guided laser pulse is usually
Since the particles are absorbed and scattered by the particles present in the atmosphere, when the stimulated laser pulse passes to the side of the photodetector, the laser that is directed to each photodetector among the laser scattered light from the stimulated laser pulse. The scattered light is detected by each photodetector, and the incident angle of the laser scattered light with respect to the optical axis center of each detector is specified by which part of the light receiving surface of the photodetector the laser scattered light is received. Based on the incident angle of the laser scattered light in each photodetector, the current position of the aircraft axis is specified by performing a predetermined calculation, and further, the center of the equilateral triangle, that is, the flight command direction The direction of deviation from the machine axis can be obtained.

Such an incident angle of the laser scattered light of the induced laser pulse emitted to the side of the airframe of the flying object is detected by a photodetector provided on the outer periphery of the airframe, and information on the detected incident angle of the laser scattered light is detected. In order to accurately specify the current position of the aircraft axis of the flying object by performing a predetermined calculation based on the above, it is needless to say that the incident angle of the laser scattered light must be accurately detected.

The principle of detecting the incident angle of this laser scattered light is as follows.
As described above, the incident angle of the laser scattered light with respect to the optical axis center of each detector is specified depending on which part of the light receiving surface of the photodetector receives the laser scattered light. Type photodiodes, PSDs and the like are used. Specifically, as shown in (a) and (b) of FIG. 9, for example, a photodetector 101 using a two-division type photodiode is electrically operated as shown in (b) of FIG. 9A is divided into two light receiving surface portions consisting of independent light receiving surfaces 101A and 101B, and the laser scattered light S incident at the incident angle θ in FIG.
The light receiving surface 101 of the photodetector 101 is condensed by
The laser scattered light spot 103 is mapped onto A and 101B. The laser scattered light S received on the light receiving surfaces 101A and 101B is photoelectrically converted to output currents Ia and Ib, respectively.
03 moves on the light receiving surfaces 101A and 101B due to a change in the incident angle θ of the laser scattered light S, the light receiving amounts of the light receiving surfaces 101A and 101B respectively change, and the currents Ia and Ib are output accordingly. Changes. That is, there is a certain correlation between the incident angle θ of the laser scattered light S and the changes in the output values of the currents Ia and Ib.
From this, the calculation shown in the following equation (1) is performed to obtain the output angle identification signal err that correlates the correlation between the incident angle θ and the currents Ia and Ib.

Err = (Ia-Ib) / (Ia + Ib) (1) Since the angle identification signal err and the incident angle θ of the laser scattered light S have a proportional relationship as shown in FIG. The region where the incident angle θ is θa or more or θb or less shows the case where the laser scattered light spot 103 is on only one of the light receiving surfaces 101A and 101B.) The incident angle θ of the laser scattered light S can be obtained.

[0012]

On the other hand, in principle, the incident angle θ of the laser scattered light S can be obtained by the means described above, but in reality, a plurality of photodetectors 101 are provided on the outer periphery of the machine body. The light receiving surface 1 of each photodetector 101 is provided.
The laser scattered light is received by 01A and 101B, and the weak current signals output by photoelectric conversion from the light receiving surfaces 101A and 101B are processed to obtain the angle identification signal err and the incident angle θ of the laser scattered light S is obtained. There must be.

However, there are some problems in this process. First, the laser scattered light S scattered from the three induction laser pulses emitted from the rear of the fuselage to the portion corresponding to the top of the equilateral triangle is one photodetector 101.
There is a problem that the incident direction of the laser scattered light S cannot be specified when two or more laser beams are simultaneously incident on the laser.

As shown in FIGS. 11 (a) and 11 (b), the condenser lens 102 causes the laser light spot 10 on the light receiving surface 101A or 101B of the laser light detector 101.
When the angle range of the incident direction of the laser scattered light S capable of forming 3 is the viewing angle α of the laser light detector 101,
In order to simultaneously specify the incident directions of the three laser scattered lights S with a field of view of 360 degrees outside the machine body, it is naturally necessary to provide a plurality of photodetectors 101 on the outer periphery of the machine body. It is necessary for the laser scattered light S of No. 1 to enter the one photodetector 101 at the same time and to have a visual field of 360 degrees outside the machine body.

On the other hand, the light receiving surface 10 of each photodetector 101
When processing the current signals Ia and Ib obtained by 1A and 101B, respectively, the current signals Ia and Ib are processed.
Since b is weak and contains noise components such as background light other than the laser scattered light S, if the current signals Ia and Ib are used as they are, the incident angle θ of the laser scattered light S will be specified. , A large error will occur. Furthermore, since the intensity of the laser scattered light S received by the photodetector 101 fluctuates greatly, the magnitude of the obtained current signals Ia and Ib fluctuates, and when the electric signals Ia and Ib are processed by a circuit or the like, saturation or the like occurs. Therefore, there is a problem that an error occurs in the obtained incident angle θ of the laser scattered light S, and it has been a problem to solve these problems.

[0016]

SUMMARY OF THE INVENTION The present invention has been made in view of such conventional problems, and in the guidance control of a flying object using laser scattered light, the incident direction of the laser scattered light can be specified with certainty, and It is an object of the present invention to provide a laser scattered light incident direction detection device in guidance control of a flying object using laser scattered light that can reduce an error.

[0017]

According to a first aspect of the present invention, there is provided a laser scattered light incident direction detection device for guiding control of a flying object using laser scattered light according to the first aspect of the present invention. The laser beam is emitted toward the flight direction, and the portion corresponding to the top of the equilateral triangle that has the center in the flight command direction on the side of the aircraft and surrounds the aircraft is irradiated with the induction laser pulse from the rear of the aircraft, and the laser scattered light from the induction laser pulse is emitted. Information on the incident direction of laser scattered light from the stimulated laser pulse captured by multiple laser photodetectors with radial fields of view toward the outside of the fuselage, which are installed at equal positions on the outer periphery of the fuselage. By determining the trajectory correction direction of the flying object necessary to correct the deviation between the flight command direction and the machine axis based on the above, and by operating the trajectory correction means based on this trajectory correction direction information Laser beam detection consisting of a condenser lens that collects laser scattered light and a photoelectric conversion element that receives and photoelectrically converts the collected laser scattered light in the guidance control of the flying object that guides the projectile in the flight command direction. And the current signal output from the laser light detector are processed to specify the incident direction of the laser scattered light and determine the trajectory correction direction of the flying object necessary to correct the deviation between the flight command direction and the machine axis. A laser scattered light incident direction detection device basically composed of a laser light detection signal processing unit, wherein a condenser lens can form a laser light spot on the light receiving surface of the laser light detector. When the angle range of the incident direction of is the viewing angle α of the laser photodetector, n> 360 ° / α (where α <120 °) (1) Provided in the minute position According to claim 2, the laser light detection signal processing unit includes a current-voltage conversion circuit for amplifying and converting a current from the laser light detector into a voltage, and noise included in an output signal of the current-voltage conversion circuit. A filter circuit that removes components, an amplifier circuit that amplifies the output signal of the filter circuit, a peak sample hold circuit that holds the peak value of the output signal from the amplifier circuit, and a sample hold of this peak value, and a peak sample hold A / D conversion circuit for converting the output of the circuit into a digital value, and for specifying the incident direction of the laser scattered light based on the output from the A / D conversion circuit to correct the deviation between the flight command direction and the machine axis. A current-voltage conversion circuit is basically provided with an arithmetic processing circuit for determining a necessary trajectory correction direction of the flying object, and a current-voltage conversion circuit according to the output of the amplification circuit. Is provided with an AGC circuit for adjusting the gain of the peak sample hold circuit for starting the sample hold operation of the peak sample hold circuit when the output signal from the amplifier circuit exceeds a set threshold value. A structure provided with a threshold value judgment circuit for generating a synchronization signal,
The gate pulse generation circuit generates a gate pulse in synchronization with the induced laser pulse to control the input of the signal to the current-voltage conversion circuit, and the gate generation circuit is provided. The above configuration is used as a means for solving the problems. There is.

[0018]

According to the laser scattered light incident direction detection device in the guidance control of the flying object using the laser scattered light according to the first aspect of the present invention, the photodetector provided at equal positions on the outer circumference of the flying object By setting the relationship between the number n and the viewing angle α of the photodetector as n> 360 ° / α (where α <120 °) (1), a plurality of laser scattered lights can be simultaneously displayed on one photodetector. In addition to ensuring a region where is not incident, the incident directions of the three laser scattered lights are simultaneously detected with a field of view of 360 degrees outside the body.

Here, the reason for setting the viewing angle α <120 ° is that
For example, as shown in FIG. 1, when the position of the equilateral triangle ABC formed by three induction laser pulses and the photodetector installed on the outer periphery of the airframe of the flying object is set to point P, the photodetection at point P is detected. Assuming that the detector has a viewing angle α of 90 °, the angle formed by the line segments AP and PC is 90 ° in the region where the laser scattered light from A and B does not enter the photodetector at the point P at the same time. It is within the circumference of the arc APB. Similarly, the point P
Considering the regions where the laser scattered light from A and C and B and C does not enter the photodetector at the same time, the region where two or more laser scattered lights do not enter the photodetector at the same time is shown in FIG. The shaded area is shown in.

When the viewing angle α of the photodetector is 60 °, the area inside the equilateral triangle ABC shown in FIG. 2 is a region where two or more laser scattered lights do not simultaneously enter one photodetector.
Further, as shown in FIG. 3, the viewing angle α of the photodetector is 12
In the case of 0 °, only the center of gravity G of the equilateral triangle ABC is a region where two or more laser scattered lights do not enter the one photodetector at the same time, and if the flying body moves even a little, two photodetectors simultaneously enter the photodetector. The above laser scattered light is incident.

From this, the viewing angle α of the photodetector is 12
When the angle is less than 0 °, a region where two or more laser scattered lights do not simultaneously enter one photodetector is secured.

On the other hand, as shown in FIG. 4, when it is assumed that n photodetectors 2 are provided at equal positions on the outer periphery of the machine body 1, the photodetectors 2 adjacent to each other and the machine axis of the flying body are adjacent to each other. When the angle φ (= 360 ° / n) formed by and the viewing angle α are equal, the laser scattered light incident from the shaded portion U in the figure is not incident on any photodetector 2. Cannot have a field of view of 360 degrees. Therefore, in order to have a field of view of 360 degrees outside the machine body 1, the viewing angle α of the photodetector 2 needs to be larger than the angle φ. vice versa,
When the viewing angle is α, the number n of the photodetectors 2 provided at equal positions on the outer circumference of the machine body 1 needs to satisfy the formula (1).

Therefore, if the condition of the expression (1) is satisfied, the incident directions of all the three laser scattered lights can be surely specified.

Further, in the apparatus according to claim 2 of the present invention,
With the above configuration, the weak current signal input from the photodetector to the laser light detection signal processing unit is amplified and converted into a voltage signal by the current-voltage conversion circuit, and is included in this amplified and converted voltage signal. Noise components such as background light are removed by the filter circuit, and again amplified by the amplifier circuit that amplifies the output signal of the filter circuit.The output signal from this amplifier circuit holds the peak value of the input signal and Is input to the arithmetic processing circuit through the peak sample hold circuit that samples and holds the output of the peak sample hold circuit and the A / D conversion circuit that converts the output of the peak sample hold circuit into a digital value. The trajectory correction direction of the flying object required to correct the deviation from

At this time, since the intensity of the laser scattered light detected by the photodetector may fluctuate greatly, when a signal exceeding the input level allowed by each of the above circuits is input and saturated, the laser An error will occur in the calculation result of the incident direction of scattered light.

Therefore, by providing an AGC (active gain control) circuit for adjusting the gain of the current-voltage conversion circuit according to the magnitude of the output signal of the amplification circuit, the dynamic range of the current-voltage conversion circuit is expanded. Thus, incorrect calculation of the incident direction of the laser scattered light is prevented.

Further, in the apparatus according to the third aspect of the present invention, the processing of erroneous data such as noise components is prevented by providing a threshold value of an appropriate value for the signal from the photodetector. The Rukoto.

Furthermore, in the apparatus according to the fourth aspect of the present invention, if the induction laser pulse and the gate pulse emitted toward the airframe are synchronized, the above-mentioned configuration allows the current-voltage conversion circuit to operate. Since the input signal is a signal only when the induction laser pulse is emitted, processing of erroneous data such as spike noise is prevented.

[0029]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 5 is a block diagram showing an embodiment of a laser scattered light incident direction detecting device in the guidance control of a flying object using the laser scattered light according to the present invention, and FIG. 6 is this laser scattered light. 7 is a timing chart of signals in the incident direction detection device.

A two-division type photodiode sensor, a PSD or the like can be used as the photodetector 2, but FIG. 5 shows a case where a two-division type photodiode sensor is used.

First, n photodetectors 2 are provided at equal positions on the outer circumference of the machine body, and photoelectrically convert the incident laser scattered light S to weakly detect two divided light receiving surfaces 2A and 2B. The current signals Ia and Ib are output to the current-voltage conversion circuits 3A and 3B, respectively.

Then, in the current-voltage conversion circuits 3A and 3B, the weak current signals Ia and Ib from the photodetector 2 are respectively amplified and converted into voltages and output to the high-pass filter 4 (filter circuit).

In the high-pass filter 4, since the light received by the photodetector 2 includes background light other than the laser scattered light S as a DC component, the DC component (background light) is blocked by cutting off the low frequency band. Components, etc.) are removed.

Here, the output from the high-pass filter 4 is amplified by the amplifier circuit 5 and input to the AGC circuit 6, the threshold value judgment circuit 7 and the peak sample hold circuit 8, but the AGC circuit 6 is amplified by the amplifier circuit 5. It has a function of adjusting the gains of the current-voltage conversion circuits 3A and 3B so that the output of the current-voltage conversion circuit 2 is not saturated based on the maximum value of the output of. Further, in order to prevent an error from occurring when the incident direction of the laser scattered light S is specified, the current-voltage conversion circuit 3
It is necessary to make the gains of A and 3B the same, and when changing the gain, both of the pair of current-voltage conversion circuits 3A and 3B are changed at the same time.

By providing the AGC circuit 6 as described above, the dynamic range of the current-voltage conversion circuits 3A and 3B is expanded, and even if the intensity of the laser scattered light S received by the photodetector 2 varies, saturation or the like occurs. Can be prevented. The method of adjusting the gains of the current-voltage conversion circuits 3A, 3B is sequentially determined based on the average value of the three samples of the output of the amplification circuit 5, or the expected current-voltage conversion circuits 3A, 3B.
It is possible to keep the gain of B as a timetable.

On the other hand, the peak sample hold circuit 8
It has both the function of sequentially detecting and holding the peak value of the signal directly input from the amplifier circuit 5 and the function of sampling and holding the peak value.

Then, as shown in FIG. 6, the threshold discriminating circuit 8 generates the trigger signal T0 when the output from the amplifying circuit 5 exceeds the set threshold V. The trigger signal T0 is input to the peak sample hold circuit 8, and the peak sample hold circuit 8 starts the sample hold operation in synchronization with the trigger signal T0.

Further, when the trigger signal T0 is inputted to one peak sample hold circuit 8, the sample hold operation is started in all the peak sample hold circuits 8, and the trigger signal T0 is inputted. If not, that is, if the output of the amplifier circuit 5 does not exceed the set threshold value, the sample hold operation is not started.

Next, the value sampled and held by the peak sample and hold circuit 8 is the multiplexer 9 at the same time when the sample and hold start signal H0 rises.
Read in. Although not shown in FIG. 5, the sample-hold start signal H0 is configured to be sent from the sample-hold circuit 8 to the multiplexer 9 after a lapse of a fixed time from the start of the sample-hold operation in the peak sample-hold circuit 8, or the calculation described later. Processing circuit 1
It is also possible to adopt a configuration in which the data is sent from 1 to the multiplexer 9. The sample hold start signal H0 is provided because the sample hold value may be unstable at the start of the sample hold operation.

The data read by the multiplexer 9 is converted into a digital value via the A / D conversion circuit 10 and input to the arithmetic processing circuit 11. During this time, the peak hold state of the peak sample hold circuit 8 is released by the peak hold reset signal R0, and preparations are made to detect the next peak value. Although the peak hold reset signal R0 is also not shown, the peak sample reset circuit 8 may have a built-in circuit for generating the peak hold reset signal R0, or the peak processing reset signal R0 may be sent from the arithmetic processing circuit 11.

When the arithmetic processing circuit 11 finishes reading the data from the A / D conversion circuit 10, it sends a read end signal R1 to the peak sample hold circuit 8 to cancel the sample hold state and to move to the next trigger signal T0. Prepare for input.

Then, in the arithmetic processing circuit 11, the incident direction of the laser scattered light S is specified based on the input data, and the trajectory correction direction of the flying object necessary to correct the deviation between the flight command direction and the machine axis. Ask for.

By adopting the above-mentioned configuration, FIG.
An amplifier circuit 5 that does not exceed the threshold value V as shown in the circle
Is not read by the arithmetic processing circuit 11, and as a result, the S / N ratio is improved and the reading of erroneous data can be reduced, so that the deviation between the flight command direction and the machine axis can be corrected. The required trajectory correction direction of the flying object can be obtained more accurately.

The threshold value V can be set as a sample average of the output of the amplifier circuit 6.

By the way, in FIG. 7, a gate generation circuit 12 is further provided at the input portion of the current-voltage conversion circuit 3 in order to prevent reading of spike noise and the like.

In FIG. 7, the input signal G2 is input to the current-voltage converting circuit 3 only when the gate pulse G0 is generated from the gate generating circuit 12. Therefore, if the trigger signal T1 is input to the gate generation circuit 12 so as to generate the gate pulse synchronized with the induction laser pulse, only the signal when the induction laser pulse is being emitted is detected, so that the induction laser pulse is generated. It is possible to avoid reading spike noises and the like that are mixed when not being fired.

Specifically, as shown in FIG. 8, assuming that spike noise (in a circle) is mixed in the input signal G1, when the gate pulse G0 synchronized with the induction laser pulse is generated from the gate generation circuit 12, Spike noise is not mixed in the input signal G2 to the current-voltage conversion circuit 3.

The trigger signal T1 input to the gate generating circuit 12 may be synchronized with a timer for generating a trigger signal and an induction laser pulse in advance before the flying object is made to fly.

[0050]

As described above, according to the laser scattered light incident direction detecting device in the guide control of the flying body using the laser scattered light according to the first aspect of the present invention, one photodetector is provided. At the same time, it is possible to secure a region where a plurality of laser scattered lights are not incident, and to simultaneously and surely detect the incident directions of the three laser scattered lights with a field of view of 360 degrees outside the body. Excellent effect is brought about.

According to the second aspect of the present invention,
Since the AGC circuit that adjusts the gain of the current-voltage conversion circuit according to the output of the amplification circuit is provided in order to keep the magnitude of the output signal of the amplification circuit constant, the dynamic range of the current-voltage conversion circuit can be expanded. As a result, it is possible to obtain an excellent effect that it is possible to prevent the calculation error of the incident direction of the laser scattered light.

According to the third aspect of the present invention,
By providing a threshold value of an appropriate value for the signal from the photodetector, it is possible to avoid erroneous data processing such as noise components, and to more accurately specify the incident direction of the laser scattered light. That is an excellent effect.

According to the fourth aspect of the present invention,
Since only the signal when the induction laser pulse is being emitted is detected, it is possible to avoid reading spike noise that is mixed when the induction laser pulse is not being emitted, and as a result, the incidence of laser scattered light The excellent effect that the direction can be more accurately specified is brought about.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a relationship between a viewing angle (in the case of 90 °) of a photodetector and a region where two or more laser scattered lights do not simultaneously enter the photodetector.

FIG. 2 is an explanatory diagram showing a relationship between a viewing angle of a photodetector (in the case of 60 °) and a region where two or more laser scattered lights do not simultaneously enter the photodetector.

FIG. 3 is an explanatory diagram showing a relationship between a viewing angle (in the case of 120 °) of the photodetector and a region where two or more laser scattered lights do not simultaneously enter the photodetector.

FIG. 4 is an explanatory diagram showing an example in which a flying object does not have a 360 ° field of view outside the aircraft.

FIG. 5 is a block diagram showing an embodiment of a laser scattered light incident direction detection device in guidance control of a flying object using laser scattered light according to the present invention.

FIG. 6 is a timing chart of signals (however, positive and negative are not distinguished) in the laser scattered light incident direction detection device of FIG.

FIG. 7 is a block diagram showing another embodiment of a laser scattered light incident direction detection device in guidance control of a flying object using laser scattered light according to the present invention.

FIG. 8 is an explanatory diagram showing a state of signal processing when a gate generation circuit is provided.

FIG. 9 is an explanatory diagram showing a method of detecting laser scattered light by a photodetector (two-division type photodiode).

10 is an explanatory diagram showing a relationship between an angle identification signal and a scattered light incident angle in the method for detecting laser scattered light in FIG.

FIG. 11 is an explanatory diagram showing a viewing angle of a photodetector.

[Explanation of symbols]

 1 Aircraft body 2 Photodetector 3 Current-voltage converter 4 High-pass filter (filter circuit) 5 Amplification circuit 6 AGC circuit 7 Threshold determination circuit 8 Peak sample and hold circuit 9 Multiplexer 10 A / D conversion circuit 11 Arithmetic processing Circuit 12 Gate generation circuit S Laser scattered light

Claims (4)

[Claims] Claims: 1. A projectile provided with trajectory correction means is fired in a predetermined direction, and the rear of the fuselage is located at a portion corresponding to the top of an equilateral triangle having a center in a flight command direction to the side of the fuselage and surrounding the fuselage. The laser scattered light from the induced laser pulse is detected by multiple laser light detectors that have a radial field of view toward the outside of the machine, which are installed at equal positions on the outer circumference of the machine. Based on the information on the incident direction of the laser scattered light from the guided laser pulse captured by the instrument, determine the trajectory correction direction of the flying object necessary to correct the deviation between the flight command direction and the machine axis, and use this trajectory correction direction information. In the guidance control of the flying object that guides the flying object in the flight command direction by operating the trajectory correcting means based on the focusing lens and the focused laser scattered light A laser light detector consisting of a photoelectric conversion element that receives and photoelectrically converts the incident light of laser scattered light by processing the current signal output from the laser light detector to determine the deviation between the flight command direction and the machine axis. A laser scattered light incident direction detection device basically composed of a laser light detection signal processing unit for determining a trajectory correction direction of a flying object required to correct the When the angle range of the incident direction of the laser scattered light capable of forming a laser light spot on the surface is the viewing angle α of the laser photodetector, n> 360 ° / α (where α <120 °) is satisfied. A laser scattered light incident direction detection device for guiding control of a flying object using laser scattered light, wherein a number n of laser light detectors are provided at equal positions on the outer circumference of the machine body. 2. The laser light detection signal processing unit includes a current-voltage conversion circuit that amplifies and converts a current from the laser light detector into a voltage, and a filter that removes noise components included in an output signal of the current-voltage conversion circuit. Circuit, the amplifier circuit that amplifies the output signal of the filter circuit, the peak sample hold circuit that holds the peak value of the output signal from the amplifier circuit and samples and holds this peak value, and the output of the peak sample hold circuit A / D conversion circuit for converting the value into a value, and based on the output from the A / D conversion circuit, the incident direction of the laser scattered light is specified to correct the deviation between the flight command direction and the machine axis. An AG which basically includes an arithmetic processing circuit for obtaining a trajectory correction direction and which adjusts the gain of the current-voltage conversion circuit according to the magnitude of the output of the amplifier circuit. The laser scattered light incident direction detection device in the guidance control of a flying object using the laser scattered light according to claim 1, further comprising a C circuit. 3. A threshold value judging circuit for generating a synchronizing signal for starting the sample and hold operation of the peak sample and hold circuit when the output signal from the amplifier circuit exceeds a set threshold value. Claim 2
A laser scattered light incident direction detecting device in the guidance control of a flying object using the laser scattered light according to the above 1. 4. The gate generation circuit according to claim 2, further comprising a gate generation circuit for generating a gate pulse synchronized with the induction laser pulse to control the input of the signal to the current-voltage conversion circuit. Laser scattered light incident direction detection device in guidance control of a flying object using laser scattered light.