JPH10132497A - Guiding controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To remove influence of noise while ensuring moving performance of an airframe by estimating noise included in an angle error signal and a line-of-sight angular velocity generated by a target motion, and setting a filter of a suitable bandwidth in the case of calculating a guide signal. SOLUTION: A line-of-sight angle calculator 8 calculates a line-of-sight angle measured value λ- hat and angle error ε- hat after boresight error correction from an angle error signal ε, boresight error correction value rc and an antenna angle ΔD on an inertial space. A differential filter calculator 9 differentiates the measured value λ- hat by a differentiator having a filter effect for deciding a bandwidth by a filter gain to obtain a guide signal. A relative distance calculator 10 calculates a relative distance between a target and an airframe by utilizing a reflected wave from the target. A noise calculator 11 calculates an angle noise estimated value included in the angle error signal according to the relative distance. A filter gain calculator 12 calculates a filter gain from the noise estimated value.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a visual line angle change rate (a visual line angular velocity) which is an angle between a target and a flying object.
The present invention relates to a guidance control device for detecting a flight object as a guidance signal and associating a flying object with a target by proportional navigation.

[0002]

2. Description of the Related Art FIG. 9 is a block diagram showing an example of the overall configuration of a conventional guidance control device. In the figure, 1 is an angle error calculator for detecting an angle error ε between an antenna angle D and a viewing angle λ _M , and 2 is a boresight error calculator for calculating a boredom error r _C of a radome included in the measured angle error. Reference numeral 3 denotes a boresight error correction calculator for removing a boresight error component from the angle error ε, and reference numeral 4 denotes a tracking loop gain switch for calculating an induction signal by multiplying the tracking error gain after the boresight error correction calculation. A calculation unit, 5 is an antenna drift adjustment value for correcting angular velocity drift of the antenna space stabilization control unit, 6 is an antenna space stabilization control unit that directs an antenna toward a target while spatially stabilizing the antenna according to an antenna tracking command, and 30 is an addition. It is a vessel.

[0003] The conventional guidance control device is constructed as described above. The guidance control device includes an apparent visual angle λ _M ′ obtained by adding the radome boresight error r to the visual angle λ _M shown in FIG. The angle error e is calculated by the angle error calculator 1 from the difference between the angles D. A boresight error correction value r _C is obtained by the boresight error calculator 2 from the antenna swing angle λ,
The boresight error correction calculator 3 subtracts the correction value r _C from the angle error ε to calculate an angle error ε_hat after boresight error correction. The tracking loop gain switching calculator 4 multiplies the angle error ε_hat by the tracking loop gain to obtain a guidance signal. The tracking loop gain is
As shown in an example in FIG. 11, as the relative distance between the flying object and the target decreases (approaches), switching is performed so as to increase stepwise. A value obtained by adding the antenna drift adjustment value 5 to the guidance signal is given to the antenna space stabilization control unit 6 as an antenna tracking command, and the antenna is stabilized in space and then directed to the target direction. In addition,
Λ _M _dot 9 is line of sight velocity due to desired motion, D_dot represents antenna angular velocity. What is detected by the guidance control device is the integration of these physical quantities. Line of sight angular rate λ _M _dot eye gaze angle lambda _M obtained by integrating the is added to the radome boresight error r, guidance and control device detects a line of sight angle of the apparent lambda _M '. On the other hand, the antenna angular velocity D_dot is integrated and detected by the guidance control device as the antenna angle D. (1 / S) in FIG.
Represents physical integration, and ○ represents an addition point. Further, the guidance and control device detects a difference between the axis direction angle theta _M and antenna angle D as the antenna neck vibration corner lambda.

[0004]

In the above-described guidance control device, since the setting of the tracking loop gain directly sets the band of the angle tracking system, when the tracking loop gain is switched in multiple steps, the gain is not changed. There was a problem that the speed of the flying object was reduced with the switching. Also, in order to switch the tracking loop gain without obtaining the target motion information and radio system information, the motion performance of the flying object deteriorates by lowering the angle tracking system band more than necessary. There was a problem that the flying object did not hit the target. Conversely, if the band of the angle tracking system is set too high, the noise component contained in the angle error signal detected by the guidance control device cannot be sufficiently removed, and the speed of the flying object itself will decrease. There was a problem that the flying object did not hit the target.

The present invention has been made to solve such a problem. Even when noise, which is an unnecessary signal component, is mixed in an angle error signal, it is possible to estimate noise included in the angle error signal. By estimating the line-of-sight angular velocity generated by the target motion and setting an appropriate band filter when calculating the guidance signal, the guidance signal from which the influence of noise has been removed while ensuring the motion performance of the flying object can be obtained. The purpose is to get.

[0006]

A guidance control device according to the present invention comprises: a calculator for calculating a relative distance between a target and a flying object;
A calculator for calculating the magnitude of noise included in the angle error signal from the relative distance, a filter gain calculator for calculating a differential filter gain from estimated noise obtained from the guidance control device, and differentiating a target line-of-sight angle And a differential filter calculator for changing a filter band, and an antenna angular velocity calculator for integrating an angular velocity signal of an antenna angular velocity detector to calculate an antenna angle in inertial space.

Further, the guidance control device of the present invention has a plurality of calculation formulas for calculating the magnitude of noise included in the angle error signal from the relative distance, and calculates the target magnitude, for example, for each target reflected radio field intensity. It has a calculator that calculates the noise magnitude after selecting the optimal noise calculation formula.

[0008] The guidance control apparatus of the present invention has a target power calculator for calculating the intensity of a radio wave reflected from a target, and a calculator for calculating the magnitude of noise included in the angle error signal from the target power.

Further, the guidance control device of the present invention includes a filter for reducing the influence of a sudden change in the radio wave environment in the calculation for estimating the noise included in the angle error signal from the radio wave intensity reflected from the target, that is, the target power. It has a calculator that performs noise calculation after passing through.

The guidance control device of the present invention has a plurality of formulas for calculating the magnitude of the noise contained in the angle error signal from the relative distance, and is optimal for each target size, for example, the target reflected radio field intensity. It has a calculator that calculates the magnitude of noise after selecting the noise calculation formula, and a calculator that estimates the noise contained in the angle error signal from the reflected radio field intensity from the target, that is, the target power. Has a function to select according to.

Further, the guidance control device of the present invention has a filter gain limit calculator for calculating a filter gain limit value for limiting a filter band in accordance with the speed and altitude of the flying object itself.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. FIG. 1 is a block diagram showing Embodiment 1 of the guidance control device according to the present invention. In the figure, 1 is an angle error calculator for detecting an angle error ε between the antenna angle D and the viewing angle λ _M , and 2 is a boresight error calculation for calculating a radome boresight error r _C included in the measured angle error ε. A tracking loop gain switching calculator for calculating a multiplication of a tracking loop gain by the angular error signal ε_hat after the boresight error correction calculation, and 5 an antenna drift adjustment value for correcting an angular velocity drift of the antenna space stabilization controller. 6 is an antenna tracking command D_dot_com
The antenna space stabilization control unit 7 stabilizes the antenna in space and directs it to the target according to the following formula. 7 integrates the angular velocity signal of the antenna angular velocity detector to obtain the antenna angle Δ in the inertial space.
The antenna angular velocity integral calculator 8 for calculating D is a visual line angle measurement value λ _M _ha based on the angle error signal ε, the boresight error correction value r _C, and the antenna angle ΔD in inertial space.
a viewing angle calculation unit that calculates the angle error ε_hat after correction of t and boresight error, and 9 is a viewing angle measurement value λ _M _h
A differential filter calculator for calculating an at signal by differentiating at with a differentiator having a filter effect whose band is determined by a filter gain, and 10 calculates a relative distance between the target and the flying object using reflected waves from the target. Relative distance calculator,
11 is a noise calculation unit that calculates an angle noise estimation value included in the angle error signal based on the relative distance, 12 is a filter gain calculation unit that calculates a filter gain from the noise estimation value,
30 is an adder.

Next, the operation of the present invention will be described with reference to FIG. This guidance control device calculates a target line-of-sight angular velocity, that is, a guidance signal, which is required for a flying object to perform proportional navigation. First, the angle error calculator 1 calculates (detects) the angle error ε. Here, the relationship between the angle error ε, the apparent line-of-sight angle λ _M ′, and the antenna angle D is represented by “Equation 1”. Since the angle error ε includes an error due to the boresight error of the radome, the boresight error correction value r _C and the antenna angle calculation value calculated by the boresight error calculation unit 2 based on the antenna swing angle λ The visual line angle measurement value λ _M _hat is calculated by the visual line angle calculation unit 8 from ΔD using the relational expression shown in “Equation 2”.
Note that the relationship between λ and r _C can be shown as “Formula 3” as an example. In addition, the viewing angle calculation unit 8 calculates the angle error ε_hat after the boresight error correction using a relational expression shown in “Equation 4”. FIG. 10 shows the relationship between the angles of the various values described above.

[0014]

(Equation 1)

[0015]

(Equation 2)

[0016]

(Equation 3)

[0017]

(Equation 4)

The target line-of-sight angular velocity, ie, the guidance signal, is:
The visual line angle measurement value λ _M _hat is obtained by performing a differential calculation in the differential filter calculation unit 9. Here, the band of the differential filter is set as follows. According to the relative distance calculated by the relative distance calculation unit 10, the noise calculation unit 11 performs a noise estimation calculation. Noise calculation unit 11
Defines the noise magnitude as a function of distance based on data obtained in advance in a field test. The noise estimation calculation formula in the noise calculation unit 11 is defined as a function of the relative distance R as shown in “Equation 5” as an example. Filter gain calculator 1 based on the estimated noise
2, the filter gain is calculated, and the differential filter band of the differential filter calculation unit 9 is set appropriately. On the other hand, after multiplying the angle error signal ε_hat after the boresight error correction by the tracking loop gain set by the tracking loop gain switching calculator 4, the value set by the antenna drift adjustment value 5 and the induced signal are added, and the antenna tracking is performed. Command D
_Dot_com is obtained. Antenna tracking command D_dot
Based on _com, the antenna space stabilization control section 6 controls the antenna to be directed and tracked in the target direction after stabilizing the antenna in the inertial space. The antenna angular velocity integral calculator 7 calculates the angular velocity signal Dg_do for the inertial space of the antenna obtained from the antenna angular velocity detector.
The angle signal ΔD in the inertial space of the antenna is calculated by integrating t.

[0019]

(Equation 5)

FIG. 7 is a block diagram showing an example of the configuration of the differential filter calculator 9 in FIG. In FIG. 7, reference numeral 17 denotes a delay register for a calculation cycle, 18 denotes a multiplier of a filter calculation cycle T _Z [sec], 19 denotes a multiplier of a filter gain K1, 20 denotes a multiplier of a filter gain K2, and 30 denotes an adder. is there. Also, λk_hat is the visual line angle estimated value, λk is the previous value of the visual line angle estimated value λk_hat, λk_dot_hat is the estimated value of the visual line angular velocity, λ
k_dot is the visual line angular velocity estimated value λk_dot_hat
Is the previous value of. By configuring the filter as shown in FIG. 7, when the measured value λM_hat is obtained, the optimal estimation amounts λk_hat and λk_of the signals λk and λk_dot are obtained.
It is generally known that dot_hat can be obtained. Here, the term “optimal” means that the mean square of the error between the estimated value estimated from the measured value and the true value of the signal is minimized. The differential filter calculation unit 9 shown in FIG. 7 outputs the estimated value of the visual line angular velocity λk_dot_hat as a guidance signal. By the way, these visual line angle estimated values λk_h
at and the previous value λk, and the estimated value of the visual line angular velocity λk_
and dot_hat and previous value Ramudakei_dot, and λ _M _hat the input signal, the relationship between the filter gain K1, K2 may be shown as "6". “Equation 6” and the block diagram shown in FIG. 7 are equivalent.

[0021]

(Equation 6)

FIG. 8 is a block diagram showing an example of the configuration of the filter gain calculator 12 in FIG. FIG.
, 17 is a delay register for a filter calculation cycle,
18 is a multiplier of the filter calculation cycle T _Z [sec], 21
Is a multiplier having a gain of 2 × T _Z , 22 is a multiplier having a gain of T _Z × T _Z , 23 is a calculator for executing a calculation for obtaining a gain K1 having a relationship shown by “Equation 7”, and 24 is a “Equation 8” A calculator for performing a calculation for obtaining a gain K2 having a relationship represented by
5 is a calculator that executes a calculation for obtaining the state quantity P11 of the relation shown by “Equation 9”, 26 is a calculator that executes calculation of obtaining the state quantity P12 of the relation shown by “Equation 10”, and 27 is a calculator that executes the calculation. Reference numeral 30 denotes an adder for executing a calculation for obtaining the state quantity P22 of the relationship indicated by 11 ".

[0023]

(Equation 7)

[0024]

(Equation 8)

[0025]

(Equation 9)

[0026]

(Equation 10)

[0027]

[Equation 11]

The filter gain calculator 12 repeatedly calculates the filter gains K1 and K2 from the estimated noise value σn2 at every filter calculation cycle Tz [sec] according to the block diagram shown in FIG. First, the noise estimation value σn2,
Calculators 23 and 24 calculate filter gains K1 and K2 from the estimation errors M11 and M12, respectively.
Next, based on the estimation errors M11, M12, M22 and the filter gains K1, K2, the calculators 25, 26, and 27 calculate the estimation errors P11, P12,
Find P22. Estimation errors P11, P1 before data update
2, P22 are delayed by the delay register 17 by the time Tz [sec], and then the target motion estimation values Q11, Q12, Q
After performing the addition of 22 and the mutual interpolation between the estimation errors,
The addition is performed by the adder 30, and new estimation errors M11, M12,
M22. New estimation errors M11, M12, M22
An example of a calculation formula for obtaining is shown in “Equation 12”. Where P
11 ', P12', P22 'are P11, P12, P2
This is a value delayed by Tz [sec] time of 2.

[0029]

(Equation 12)

As described above, in the present invention, the band of the angle tracking system is not continuously set by switching the tracking loop gain stepwise as in the prior art, but is continuously set by the band of the angle tracking system. Is applied, so that the speed reduction at the time of gain switching, which has conventionally been a problem, can be solved.

Embodiment 2 FIG. 2 is a block diagram showing another configuration example of the present invention. In the first embodiment, the noise estimation is performed using one type of calculation formula regardless of the target radio wave condition. However, in the present embodiment, a plurality of noise calculation formulas 13 are provided as shown in FIG. That is, the noise calculation formula obtained in advance in the field test for each target reflected radio wave intensity can be appropriately selected by the switch 28. When the target is large and the reflected radio wave intensity is high, a noise calculation formula is set such that the noise is small. When the target is small and the reflected radio wave intensity is weak, a noise calculation formula is set such that the noise is large. The noise calculation formula can be selected from the information of the radar mounted on the flying object or
This is carried out by sending a command as an initial setting value to the flying object based on information on the size of the target observed by the radar of the flying object mounted mother machine, that is, the target reflected radio field intensity.

Depending on the selection of the noise calculation formula, the gain may be increased for a small target having a weak reflected radio wave intensity to widen the band, or conversely, the gain may be decreased for a target having a strong reflected radio wave intensity and the band narrowed. The inconvenience of being too intense is eliminated, and the accuracy of the obtained induction signal is improved.

Embodiment 3 FIG. 3 is a block diagram showing another configuration example of the present invention. In the figure, reference numeral 14 denotes a target power calculator for estimating the intensity of the reflected radio wave from the target, that is, the target power. From the obtained target power, a noise calculator estimates noise included in the angle error signal corresponding to the target power. The noise calculator 11 defines the magnitude of the noise as a function of the target power based on the data obtained in advance in the field test. As an example, the noise estimation calculation formula in the noise calculation unit 11 is defined as a function of the target power Tpow as shown in “Equation 13”. When the target power is small and the noise is large, the filter gain is reduced to narrow the filter band of the differential filter calculation unit. Conversely, when the target power is large and the noise is small, the filter gain is increased and the filter band of the differential filter calculation unit is increased. To obtain the desired inductive signal.

[0034]

(Equation 13)

By using the target radio wave intensity, that is, the target power for the noise calculation, the band is narrowed by lowering the gain for a small target having a weak reflected radio wave intensity, and conversely, for a target having a strong and strong reflected radio wave intensity. By increasing the gain and widening the band, the accuracy of the obtained induced signal is improved.

Embodiment 4 FIG. FIG. 4 is a block diagram showing another configuration example of the present invention. In the figure, reference numeral 15 denotes a target power filter, which has a function of mitigating the influence of a transient transition of the target power obtained by the target power calculator 14 at the preceding stage. The band of the target power filter 15 is set to the same band as when the angle tracking system has the widest band. Thus, noise calculation can be performed within a range that the angle tracking system can follow. The target power filter 15 set in this way
After that, the noise included in the angle error signal is estimated in the noise calculation unit 11, the filter gain is changed according to the magnitude of the estimated noise, and the filter band of the differential filter calculation unit is set appropriately. Obtain the desired guidance signal.

When the target power fluctuates transiently due to the turning of the target or the flying object, a stable noise calculation can be performed by using a filter for alleviating the influence, and the accuracy of the induced signal can be improved. .

Embodiment 5 FIG. 5 is a block diagram showing another configuration example of the present invention. In the figure, 28 is a switch for selecting a noise calculation formula, and 29 is a switch for selecting whether to perform noise estimation with target power or relative distance. In accordance with the size of the target, for example, the target reflected radio field intensity, the switches 28 and 29 enable the noise estimation method to be selected under optimum conditions. Observation of the target's reflected radio field intensity should be performed using the information of the radar mounted on the flying object or the radar of the motherboard mounted on the flying object, and from the obtained information, send a selection switch command to the flying object and set it as the initial setting value Can be. The switching of the noise estimation method selection switch 29 is performed, for example, in such a manner that when the distance information is uncertain due to launching from a long distance, noise calculation is first performed using the target power so as to approach the target and accurately grasp the relative distance. At this point, the calculation is switched to the noise calculation based on the relative distance to improve the noise calculation accuracy.

By providing a plurality of noise estimation calculation methods and using them in combination with each other, it is possible to calculate noise in accordance with the radio wave environment. By switching the estimation calculation method, the noise calculation accuracy is increased, and the accuracy of the guidance signal can be improved.

Embodiment 6 FIG. FIG. 6 is a block diagram showing another configuration example of the present invention. In the figure, a filter gain limit calculator 16 has a function of limiting the filter gain calculated by the filter gain calculator 10 according to the speed and altitude of the flying object. By applying a limiter to the filter gain, it is possible to provide a function of appropriately restricting the filter band and preventing the response band of the angle tracking system from being excessively widened and the movement of the flying object becoming unstable.

The reason why it is necessary to apply a limiter to the filter gain is to prevent the band of the angle tracking system from becoming too large as compared with the response band of the flying object. Depending on the performance of the flying object, the speed is set to limit the filter gain when the speed is slower than the sound speed, and the altitude is set to limit the filter gain when the altitude exceeds 50 km. . The limiter value is set by allocating the responsiveness between the flying object and the angle tracking system.

[0042]

Since the present invention is configured as described above, it has the following effects.

Even when the angular noise, which is an unnecessary signal component, is mixed in the angular velocity signal, the estimation of the angular noise included in the angle error signal based on the relative distance to the target and the visual line angular velocity generated by the target motion are performed. By performing estimation and setting a filter having an appropriate band when calculating the guidance signal, it is possible to obtain a guidance signal from which the influence of angle noise has been removed while ensuring the movement performance of the flying object.

Further, there are a plurality of calculation formulas for calculating the magnitude of the angle noise included in the angle error signal from the relative distance, and an appropriate noise calculation formula is selected for each target size, for example, the target reflected radio field intensity. Thereby, a similar effect can be obtained.

Further, by having a target power calculator for calculating the intensity of the reflected radio wave from the target, the angle noise can be estimated in accordance with the size of the target, that is, the intensity of the reflected radio wave of the target, and a more accurate guide signal can be obtained. Can be obtained.

Further, when noise is estimated from the target power, by passing through a filter that alleviates a sudden change in the radio wave environment, it is possible to perform appropriate noise estimation without being affected by transient phenomena. The effect can be expected.

Further, there are provided a plurality of means for estimating the magnitude of the angle noise included in the angle error signal.
That is, the same effect can be obtained by selectively using the method of estimating the noise based on the relative distance and the method based on the target power according to the target reflected radio wave intensity.

Further, by providing a function for setting a filter gain limit for limiting a filter band in accordance with the speed and altitude of the flying object itself, the kinetic performance and stability of the flying object are ensured. However, almost the same effect can be expected.

In the above embodiment, the case where the antenna is mechanically scanned using the control system on the gimbal mechanism has been described. However, the present invention is also applied to a guidance control device of a system for electronically scanning the antenna beam. Applicable. In such a case, part or all of the calculation functions described here can be integrated with the existing flying object guidance control system, so that the guidance control device of the present invention is more effective.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment of the present invention.

FIG. 2 is a block diagram showing a second embodiment of the present invention.

FIG. 3 is a block diagram showing a third embodiment of the present invention.

FIG. 4 is a block diagram showing a fourth embodiment of the present invention.

FIG. 5 is a block diagram showing a fifth embodiment of the present invention.

FIG. 6 is a block diagram showing a sixth embodiment of the present invention.

FIG. 7 is a block diagram illustrating a configuration example of a differential filter calculator according to the present invention.

FIG. 8 is a block diagram showing a configuration example of a filter gain calculator of the present invention.

FIG. 9 is a block diagram showing a conventional guidance control device.

FIG. 10 is a diagram showing a relation between a conventional guidance control device and an angle according to the present invention.

FIG. 11 is a diagram illustrating an example of switching of a tracking loop gain of a conventional guidance control device.

[Explanation of symbols]

1 Angle error calculator, 2 boresight error calculator, 3
Boresight error correction calculation unit, 4 tracking loop gain switching calculation unit, 5 antenna drift adjustment value, 6 antenna space stabilization control unit, 7 antenna angular velocity integral calculation unit, 8 viewing line angle calculation unit, 9 differential filter calculation unit, 1
0 relative distance calculator, 11 noise calculator, 12 filter gain calculator, 13 noise calculation formula, 14 target power calculator, 15 target power filter,
16 filter gain limit calculator, 17 delay register for calculation cycle, 18 filter calculation cycle Tz [se
c] multiplier, 19 filter gain K1 multiplier, 2
0 Multiplier with filter gain K2, 21 gain 2 × T
Multiplier of z, 22 Multiplier of gain Tz × Tz, 23
A calculator for performing a calculation for obtaining the gain K1, a calculator for performing a calculation for obtaining the gain K2, and a state quantity P
Calculator that performs the calculation to find 11, 26 state quantities P12
, 27 a calculator for calculating the state quantity P22, 28 a calculation formula selection switch, 29 a noise estimation method selection switch, 30 an adder, 31 an addition / subtraction unit.

Claims (6)

[Claims] 1. A guidance control device for detecting a visual line angular velocity corresponding to an angle between a target and a flying object as a guidance signal, and associating the flying object with a target based on the guidance signal. Angle error detection means for detecting an angle error of the pointing object with respect to the target of the antenna, boresight error detection means for calculating the radome boresight error of the flying object from the swing angle of the antenna, and integration of the antenna angular velocity Antenna angle calculation means for calculating the antenna angle with respect to the inertial space, and the above-mentioned angle error, boresight error and viewing angle calculation means for calculating the viewing angle and the angle error corrected for boresight error from the antenna angle, Noise calculation means for calculating an estimated value of the angle noise included in the angle error signal based on the relative distance between the target and the flying object Filter gain calculating means for calculating a differential filter gain from the estimated value of the angular noise; and differential filter calculating means for calculating a visual line angular velocity based on the visual line angle calculated by the visual line angle calculating means and the differential filter gain. Means for multiplying an angle error signal corrected for boresight error by a tracking loop gain, correcting an antenna drift adjustment value obtained by performing measurement in advance from the multiplied value, and calculating an antenna tracking command. And a means for stabilizing the antenna in space and pointing the antenna at a target in response to an antenna tracking command. 2. A method for estimating noise included in an angle error signal in accordance with a relative distance between a target and a flying object, includes a plurality of calculation formulas for performing noise calculation for each target size and reflected radio field intensity. 2. The guidance control device according to claim 1, further comprising a function of selecting a calculation formula based on information of a radar mounted on the flying object or information observed by a radar of the flying device mounted on the aircraft. 3. A guidance control device for detecting a line-of-sight angular velocity corresponding to an angle between a target and a flying object as a guidance signal, and associating the flying object with the target based on the guidance signal, comprising: Angle error detection means for detecting an angle error of the pointing object with respect to the target of the antenna, boresight error detection means for calculating the radome boresight error of the flying object from the swing angle of the antenna, and integration of the antenna angular velocity Antenna angle calculation means for calculating the antenna angle with respect to the inertial space, and the above-mentioned angle error, boresight error and viewing angle calculation means for calculating the viewing angle and the angle error corrected for boresight error from the antenna angle, A noise calculating means for calculating an estimated value of angle noise included in the angle error signal based on a radio wave intensity reflected from the target; Filter gain calculating means for calculating a differential filter gain from the estimated value of the angle noise, and differential filter calculating means for calculating the visual line angle calculated by the visual line angle calculating means and the visual line angle velocity by the differential filter gain, The angle error signal corrected for boresight error is multiplied by the tracking loop gain, and from this multiplied value,
Means for calculating an antenna tracking command after correcting the antenna drift adjustment value obtained by performing measurement in advance, and stabilizing the antenna in space and pointing the antenna to a target according to the antenna tracking command A guidance control device comprising: 4. A function for estimating noise included in an angle error signal from the intensity of a radio wave reflected from a target, and performing a noise calculation after passing through a filter for mitigating the influence of a sudden change in a radio wave environment. 4. The method according to claim 3, wherein
The guidance control device as described. 5. A guidance control device for detecting a line-of-sight angular velocity corresponding to an angle between a target and a flying object as a guidance signal, and associating the flying object with the target based on the guidance signal, comprising: Angle error detection means for detecting an angle error of the pointing object with respect to the target of the antenna, boresight error detection means for calculating the radome boresight error of the flying object from the swing angle of the antenna, and integration of the antenna angular velocity Antenna angle calculation means for calculating the antenna angle with respect to the inertial space, and the above-mentioned angle error, boresight error and viewing angle calculation means for calculating the viewing angle and the angle error corrected for boresight error from the antenna angle, A noise calculating means for calculating an estimated value of angle noise included in the angle error signal from a relative distance between the target and the flying object; Means for calculating an estimated value of the angle noise included in the angle error signal from the intensity of the reflected radio wave from the target, that is, the target power, and calculating an estimated value of the angle noise included in the angle error signal according to the measurement state of the reflected radio wave intensity A switch for selecting a means for performing the calculation, a filter gain calculating means for calculating a differential filter gain from the estimated value of the angular noise, and a visual line angle calculated by the visual line angle calculating means and the differential filter gain. Differential filter calculating means for calculating, and multiplying the angle error signal corrected for boresight error by the tracking loop gain,
A means for calculating an antenna tracking command after correcting an antenna drift adjustment value obtained by performing measurement in advance from the multiplied value, and a means for stabilizing the antenna in space and responding to the antenna tracking command. And a means for directing the antenna toward a target. 6. A guidance control device for detecting a visual angular velocity corresponding to an angle between a target and a flying object as a guidance signal, and associating the flying object with the target based on the guidance signal, comprising: Angle error detection means for detecting an angle error of the pointing object with respect to the target of the antenna, boresight error detection means for calculating the radome boresight error of the flying object from the swing angle of the antenna, and integration of the antenna angular velocity Antenna angle calculation means for calculating the antenna angle with respect to the inertial space, and the above-mentioned angle error, boresight error and viewing angle calculation means for calculating the viewing angle and the angle error corrected for boresight error from the antenna angle, A noise calculating means for calculating an estimated value of angle noise included in the angle error signal from a relative distance between the target and the flying object; Means for calculating an estimated value of the angle noise included in the angle error signal from the intensity of the reflected radio wave from the target, that is, the target power, and calculating an estimated value of the angle noise included in the angle error signal according to the measurement state of the reflected radio wave intensity Switch for selecting means for performing the calculation, filter gain calculating means for calculating the differential filter gain from the estimated value of the angular noise, and filter gain limit calculation for calculating the limit value of the filter gain based on the speed and altitude information of the flying object itself. Means, a differential filter calculating means for calculating a visual line angular velocity by the visual line angle calculated by the visual line angle calculating means and the differential filter gain, and a tracking loop gain multiplied by an angle error signal corrected for boresight error, The antenna drift obtained by performing the measurement in advance from this multiplied value A guidance system comprising: means for calculating an antenna tracking command after correcting an adjustment value; and means for stabilizing the antenna in space and then directing the antenna to a target according to the antenna tracking command. Control device.