JPH0961100A - Target direction determining mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To dispense with a searching function of a radio wave sensor and to lessen power consumption by a system wherein signals from nondirectional acoustic sensors are whitened when it is detected that a target sound increases to a predetermined level or above, and directional angles formed by the target sound and the reference coordinate axes are computed from the signals whitened. SOLUTION: A sound generated by a target is detected by an acoustic sensor 1 and given to a computer 13 through an A/D converter 7, while it is given to a comparator 15. When an input signal exceeds a reference voltage, the comparator 15 sends a signal of a command to start computation of the direction of the target to the computer 13. The computer 13 removes low-frequency components from acoustic signals from individual acoustic sensors and takes out high-frequency components therefrom (whitening) and, using the white signal from the acoustic sensor 1 as a reference white signal, executes a processing of mutual correlation between the reference white signal and the white signal of each acoustic sensor. It calculates the direction of the target from mutual time relations and transmits values thus obtained to a computer 12.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention can detect a moving target of a helicopter, a tracked vehicle or the like, and output a firing or firing signal by directing the direction of power of the explosive filling body to that direction.
In a proximity type unmanned firearm trigger device having a reversible safety unwinding mechanism, when a target sound (target) approaches, the approach direction of the target sound can be detected by an aerial sound. Is.

[0002]

2. Description of the Related Art In recent years, for unmanned firearms that detect the approach of a target with an acoustic sensor or the like and direct the radio wave sensor to the target A trigger device has been proposed (for example, JP-A-5-280899). However, in the unmanned firearm trigger device, in the search process before the target is tracked after the radio wave sensor is activated,
Since it takes a long time to search while swinging a beam over a wide three-dimensional space using a radio wave sensor, it may be necessary to increase the transmission power to search for a distant moving target.

[0003]

In the conventional trigger device for unmanned firearms, the horizontal search is the selective switching of the waveguide rows of the horizontal antenna elements, and the elevation search is the vertical rotation vertical rotation. The selection is performed by selectively switching the waveguide array of the antenna elements for the elevation direction provided on one surface, and the search is performed by the target sequential scanning in the hemisphere. The processing time from transmission / reception that sequentially switches each direction in the hemisphere to extraction of the target is the time required for horizontal rotation of the antenna for elevation angle detection, so in the case of a target such as a helicopter flying at high speed, the target must be searched from a sufficiently long distance. For example, there was a drawback that the target could not be captured and the transmission power consumption was large.

At this time, even if the number of search points is reduced by using a wide-angle beam, the transmission power must be increased according to the beam width in order to obtain the same echo signal strength, which greatly reduces the search power consumption. I can't do that. Since the transmission power required to search for a target is generally proportional to the fourth power of the distance, there is a problem in that for a high-speed target, the power supply for the trigger device is quickly consumed in combination with the increase in the search transmission time from a long distance. It was

[0005]

Therefore, the present invention has solved the above problems by adopting the following means.
The sound sensor is used to detect the sound generated by a helicopter or tracked vehicle, and when the level (magnitude) of this sound signal rises above a predetermined level, the radio sensor is activated to search for the target. Instead, the signal from the acoustic sensor is whitened by a whitening unit, the direction angle between the target and the reference coordinate axis is calculated, and the direction angle is measured by the radio wave sensor (in this case, the radio wave sensor functions as a tracking radar). It is configured to be transmitted to.

[0006]

In the target direction determination mechanism of the present invention, when a target such as a helicopter or a tracked vehicle approaches the unmanned firearm trigger device, the sound generated by the target is detected by the acoustic sensor. Next, when the value detected by this sensor becomes equal to or higher than a predetermined first level, the direction angle measurement calculation means and the radio wave sensor are turned on for the first time to continuously detect sound, and the detected value becomes equal to or higher than the second level. Then, the signal from the acoustic sensor is whitened by the means for whitening the signal, and the white signal is cross-correlated to calculate the target direction angle between the target and the reference coordinate axis, and the calculated value is transmitted to the radio wave sensor. However, the radio wave sensor antenna can be aimed and tracked in the target direction.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a target direction determining mechanism according to the present invention will be described with reference to the drawings. FIG. 1 shows a block diagram of a target direction determining mechanism. The sound sensor 1 detects a sound generated by a target such as a helicopter or a tracked vehicle. That is, the signal of the acoustic sensor 1 is amplified by the amplifier 5, passes through the filter 6 that cuts background noise, and is applied to the comparator 14. When this signal exceeds the reference voltage of the comparator 14, the power source of the entire trigger device is turned on. enter. On the other hand, the acoustic signal output is A / D
It is applied to the computer 13 through the converter 7 and also to the comparator 15. When the input signal exceeds the reference voltage, the comparator 15 notifies the computer 13 of the calculation start command signal in the target direction. Computer 1
The signal processing unit 3 performs signal processing based on the output signals of the acoustic sensor 1 to the acoustic sensors 2, 3, and 4 that pass through the amplifier 5, the filter 6, and the A / D converter 7.

By the way, the acoustic sensor 1 is used to detect the target.
However, the output signals from the acoustic sensors 2 to 4 may be used. The acoustic sensors are arranged such that the acoustic sensors are arranged equidistant from the origin on the XYZ coordinate axes and each axis.
These acoustic sensors may be oriented in any direction.

The computer 13 calculates a target direction in which direction the target (sound source) is with respect to a predetermined reference direction based on the arrangement state of the acoustic sensors, and transmits this value to the computer 12. At this time, the computer 13
Removes the low-frequency component from the acoustic signal from each acoustic sensor and extracts the high-frequency component (whitens), and uses the white signal from the acoustic sensor 1 as the reference white signal, and the reference white signal and the white signal of each acoustic sensor. Cross-correlation processing is performed between them, and the target direction is calculated from the mutual time relationship.

Next, the computer 12 determines the radio wave sensor 8 based on the target direction transmitted from the computer 13.
After controlling the motor 109 for vertically swinging the warhead attached with the antenna and the motor 10 for horizontally swinging the warhead, the beam direction of the radio wave sensor 8 is directed to the target direction, and the target is tracked. A signal is output to the detonator 11.

[0011]

According to the present invention, when a tracked vehicle or a helicopter in high-speed flight approaches, it is possible to indicate the initial pointing direction of the radio wave transmission / reception sensor to the target direction calculated from the acoustic sensor signal. Since the search function of the radio wave sensor is not required, the transmission power at the time of searching for the radio wave sensor is reduced, and there is an effect that the power consumption is less than that of the conventional sensor system of the unmanned firearm trigger device. In addition, the target direction calculation time is compared with the total calculation processing time of each beam direction search in the hemisphere by the radio wave sensor in the conventional method, and the processing target is a small section time series signal of several sensor outputs. It has the effect of being significantly shortened.

[Brief description of drawings]

FIG. 1 is a block diagram of a target direction determining mechanism of the present invention.

[Explanation of symbols]

1 Acoustic sensor (installed at the origin on the XYZ axes) 2 Acoustic sensor (installed on the X axis on the XYZ axes) 3 Acoustic sensor (installed on the Y axis on the XYZ axes) 4 Acoustic sensor (Z on the XYZ axes) (Attached to the shaft) 5 Amplifier 6 Filter 7 A / D converter 8 Radio wave sensor for tracking 9 Motor that rotates the power direction of the explosive filling body in the vertical direction 10 Motor that rotates the power direction of the explosive filling body in the horizontal direction 11 Detonator 12, 13 Computer 14, 15 Comparator

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Makoto Fukumoto 3-22-22 Tsurumaki, Setagaya-ku, Tokyo

Claims (1)

[Claims] 1. An acoustic sensor for detecting a sound generated by a moving target, and a radio wave sensor is activated based on a detected value of the acoustic sensor to determine its position from the reflected radio wave of the moving target to determine the power direction of the explosive filling body. In a proximity type unmanned firearm trigger device with a reversible safety unwinding mechanism that outputs a firing or firing signal toward a moving target, when it detects that the target sound has increased above a predetermined level, it is omnidirectional It has a target searching function including means for whitening the signal from the sex acoustic sensor and means for calculating the direction angle between the target sound (target) and the reference coordinate axis based on the whitened signal. Characteristic target direction determination mechanism.