JPH10132935A - Missile position measuring equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To ensure the measurable distance and measuring precision even with an error angle by directing the laser beam of a laser range finder in the direction of a missile within an image. SOLUTION: This equipment is loaded with a beam directing angle variable device 4 of a laser range finder 3, and the laser beam is directed in a direction offset from the optical axial angle of an image pickup device by the angle of an error angle 10 which is the output of an image processing device 5. The azimuth of a missile is measured by the angle of gimbals and the error angle 10, and the relative distance with the missile is measured by the laser range finder 3 with the directing angle of the laser beam being shifted by the error angle 10. Even if the error angle 10 is generated in the tracking control of a high-speed missile, the laser beam can be prevented from being shifted from the range so that the distance can not be measured since the laser beam can be directed to the direction of the missile. Further, since it is not necessary to minimize the error angle 10, the control gain can be reduced even in the tracking control system, and a stable tracking control equipment can be provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention measures the azimuth of a flying object by tracking the image of the flying object, and measures the distance to the flying object measured by a laser range finder. The present invention relates to a flying object position measurement device that measures a spatial position.

[0002]

2. Description of the Related Art A conventional flying object position measuring apparatus is shown in FIGS.
Shown in Conventionally, as described in JP-A-6-249704, a gimbal 1 having two or more axes of freedom,
The imaging device 2 mounted on the gimbal, the laser distance measuring device 3 mounted on the gimbal 1 so that the optical axis of the imaging device 2 is parallel to the optical axis of the laser light, and an image captured by the imaging device 2 An image processing device 5 that detects a flying object from the image data 8 and calculates an error angle 10 that is a difference between the image data 8 and the center of the image, and a gimbal control that controls the gimbal angle 12 or the angular velocity using the error angle 10 as an input. A tracking arithmetic unit 6 that outputs a signal 11 and a gimbal control unit 7 that drives and controls the gimbal angle 12 or the angular velocity according to the gimbal control signal 11. The spatial position of the projectile is measured by measuring the projectile angle direction 14 from the angle 10 and measuring the distance to the projectile measured by the laser range finder 3. To measure. In this conventional measuring device, the direction of the laser beam from the laser range finder is fixedly installed on the gimbal 1 in parallel with the optical axis of the imaging device.

[0003]

The first problem is that FIG.
In the conventional projectile position measurement device shown in the figure, the optical axis of the imaging device,
That is, the direction toward the center of the image and the direction of the optical axis (laser beam) of the laser range finder are set in parallel, and the spread angle of the laser beam is narrow. Can only be used when

[0004] The reason is that the error angle 10 (ε) between the image center of the image data 8 and the position of the flying object due to the control delay that occurs when tracking control of the flying object is caused by the flying object viewed from the imaging device 2. This is because the following relationship exists between the relative angular velocity (ω) and the tracking control gain (K).

[0005] That is, in tracking control, the error angle 10 (ε) increases in proportion to the relative angular velocity (ω) of the flying object viewed from the imaging device 2, but the spread angle of the laser light from the laser distance measuring device is usually an extremely narrow angle. For this reason, the flying object itself needs to have a certain size in order to measure the distance even when the flying object does not exist at the center of the image.

A second problem is that distance measurement cannot be performed for a high-speed flying object. The reason is that the relative angular velocity (ω) of a high-speed flying object increases from the relationship of equation (1), so that the error angle 10 (ε) increases, and the angle of deviation of the laser beam from the laser range finder deviates from the range. It is because.

A third problem is that the measurement accuracy is low. The reason is that the error angle 10
This is because (ε) is generated by the relative angle (ω) viewed from the imaging device 2 and the measurement point position of the flying object moves, so that the measurement accuracy decreases.

A fourth problem is that the conventional configuration has the first and second problems.
In order to solve the above problem, the distance that can be measured is reduced.

The reason is that, in order to solve the first and second problems in the conventional configuration, it is conceivable to increase the tracking control gain (K) from the relationship of equation (1). This is because the tracking control gain (K) needs to be considerably large in order to keep the error angle 10 within the narrow laser beam divergence angle, and the tracking control system becomes unstable.

Therefore, conversely, the only way is to increase the beam divergence angle of the laser range finder so that the distance can be measured. The error angle 10 generated by the tracking control is determined by the angle at which the laser range finder can measure the distance. It must be within the range, that is, the range of the laser beam divergence angle.

However, increasing the beam divergence angle of the laser range finder reduces the energy of the laser beam reflected from the flying object and reduces the range of the distance that can be measured. This is because not only does long distance measurement become impossible, but also the measurement accuracy deteriorates due to the movement of the position of the measurement point due to the error angle.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and provides a stable tracking control device while suppressing an increase in tracking gain in tracking control. In addition, an error angle generated when tracking control of a flying object is reduced. It is an object of the present invention to provide a measuring device capable of securing a distance that can be measured and a measuring accuracy even if there is any.

[0013]

A flying object position measuring apparatus according to the present invention has a gimbal having two or more axes of freedom, an imaging device mounted on the gimbal, and a flying object mounted on the gimbal together with the imaging device. A laser distance measuring device that measures a relative distance from the image capturing device, and an image processing that detects a flying object from image information captured by an imaging device and calculates an error angle from a center of the image from position information of the flying object in the image. A tracking calculation device that outputs a gimbal control signal for tracking control of the flying object with the error angle output from the image processing device as an input,
It consists of a gimbal control device that drives and controls the gimbal angle or angular velocity according to the gimbal control signal, and measures the azimuth angle by tracking the image of the projectile and measuring the distance to the projectile, thereby achieving spatial In the flying object position measuring device for measuring a precise position, a variable laser pointing angle device for directing the laser beam of the laser distance measuring device in the direction of the flying object in the image is provided.

Further, the present apparatus can be provided with a mechanism for directing the laser beam of the distance measuring device to a specific position of the flying object.

[0015]

Next, an embodiment of a flying object position measuring apparatus according to the present invention will be described in detail with reference to the drawings. Referring to FIG. 1, a preferred embodiment of the present invention is a gimbal 1 having two or more axes of freedom, an imaging device 2 mounted on the gimbal 1, a laser distance measuring device 3, and a laser beam pointing angle variable. The apparatus includes a device 4, an image processing device 5, a tracking operation device 6, and a gimbal control device 7.

Next, the operation of the embodiment of the present invention will be described.
This will be described with reference to FIGS. The position of the flying object in the image is obtained by the image processing device 5 from the image information 8 output from the imaging device 2, and the error angle 10 which is the difference between the center of the image and the position of the flying object in the image is calculated. A gimbal control signal 11 for tracking control of the flying object is calculated by the tracking arithmetic unit 6 with the error angle 10 as an input. The gimbal control device 7 that drives and controls the gimbal angle 12 or the angular velocity using the gimbal control signal 11 as an input tracks the gimbal 1 angle 12 toward the flying object direction 14. At this time, the azimuth angle 14 of the flying object is measured from the gimbal angle 12 and the error angle 10, and the distance measuring device 3 mounted on the gimbal 1 together with the imaging device 2 reflects the transmitted laser light on the flying object. The configuration for measuring the distance to the flying object by measuring the time until returning and receiving the light is the same as the conventional one.
This measuring device is equipped with a beam directing angle variable device 4 of the laser distance measuring device 3 and has an error angle 10 which is an output of the image processing device 5.
The laser beam is directed in a direction offset from the optical axis angle of the image pickup device by the angle of. As described above, the present measuring device measures the azimuth angle 14 of the flying object from the gimbal angle 12 and the error angle 10 and biases the pointing angle of the laser beam by the error angle. It measures the distance.

As described above, by providing a mechanism for changing the laser pointing angle for directing the laser beam in the direction of the flying object in the captured image, the tracking control can be performed even for a high-speed flying object. Even if the error angle 10 occurs, the laser beam can be directed to the flying object, so that it is possible to eliminate the possibility that the laser beam deviates from the range of the laser beam and the distance cannot be measured.
Further, since it is not necessary to reduce the error angle 10, the control gain can be reduced in the tracking control system, and a stable tracking control device can be obtained.

Further, since the laser beam can be directed to the flying object in the image, the position where the laser beam hits does not change due to the error angle 10 as in the prior art, so that accurate distance measurement can be performed.

Further, since the divergence angle of the laser beam can be reduced, the distance that can be measured can be increased.

[0020]

Next, an embodiment of the present invention will be described in detail with reference to the drawings.

Referring to FIG. 1, a preferred embodiment of the present invention includes a gimbal 1 having two or more axes of freedom (in FIG. 3, two axes are provided) and an imaging device 2 mounted on a gimbal mounting portion. , A laser distance measuring device 3, a laser beam directing angle varying device 4, an image processing device 5, a tracking operation device 6, and a gimbal control device 7.

Next, the operation of this embodiment will be described with reference to FIG.
This will be described with reference to FIG. The position 9 in the image of the flying object is obtained by the image processing device 5 from the image data 8 output from the imaging device 2, and the error angle 10 which is the difference between the image center and the position of the flying object in the image is calculated. The tracking calculation device 6 calculates the gimbal control signal 11 for controlling the tracking of the flying object by multiplying the error angle 10 as an input by the control gain (K) of the tracking control. The gimbal control device 7 of the measuring device according to the present embodiment operates so that the gimbal angle 12 or the angular speed follows the gimbal control signal 11 by feedback-controlling the gimbal angle 12 or the angular speed using the gimbal control signal 11 as input. I do. By operating as described above, the gimbal angle 12 can finally track the flying object direction 14.

Further, the laser distance measuring device 3 is mounted on the gimbal 1 together with the image pickup device 2, and measures the time from when the laser beam is output to when the laser beam reflected from the flying object and returned is received. To measure the distance. The error angle 10 output from the image processing device 5 is input to the laser pointing angle varying device 4, and the angle of the mirror 15 is variably controlled so as to become the angle of the error angle 10, whereby the error angle 10 with respect to the gimbal angle 12 is obtained. The laser beam is directed in a direction offset by an angle of 10 (flying object angle direction 14). When the flying object is imaged with a certain size, it is possible to specify where the measurement point is located on the flying object.

[0024]

As described above, the first embodiment according to the present invention is described.
Is that the position of the flying object can be easily measured. The reason is that even when an error angle, which is a tracking delay in tracking control, occurs when measuring a flying object, the flying object is deviated from the range of the spread angle of the laser light by directing the laser light to the flying object. This is because it is possible to eliminate the inability to distance.

The second effect is that a stable tracking control device can be obtained. The reason is that it is not necessary to reduce the error angle, so that it is not necessary to increase the control gain even in the tracking control system, so that a tracking control device that is stable in control can be easily realized.

A third effect is that accurate distance measurement can be performed. The reason for this is that the position at which the laser beam hits does not change due to the error angle as in the related art, so that accurate ranging can be performed. In addition, since the directing direction of the laser beam can be arbitrarily changed, it is possible to specify which position of the object to be measured, so that more accurate distance information can be obtained.

A fourth effect is that the distance that can be measured can be extended. The reason is that the divergence angle of the laser beam from the laser range finder 3 can be reduced, so that the laser beam can reach a long distance without being dispersed.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an embodiment of a flying object position measuring apparatus according to the present invention.

FIG. 2 is a schematic diagram showing a gimbal angle, a projectile direction, and an optical axis direction of a laser beam according to the present invention, and an explanatory diagram showing a relationship on an image.

FIG. 3 is an embodiment showing an example of a conventional technique.

FIG. 4 is a functional block diagram showing an example of conventional tracking control.

FIG. 5 is a schematic diagram showing a gimbal angle, a flying object direction, and an optical axis direction of a laser beam in a conventional technique, and an explanatory diagram showing a relationship on an image.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 gimbal 2 imaging device 3 laser distance measuring device 4 laser pointing angle variable device 5 image processing device 6 tracking operation device 7 gimbal control device 8 image data 9 projectile position on image 10 error angle 11 gimbal control signal 12 gimbal angle 14 flight Body angle direction 15 Mirror

Claims (2)

[Claims] A gimbal having at least two axes of freedom; an imaging device mounted on the gimbal; a laser distance measuring device mounted on the gimbal together with the imaging device for measuring a relative distance to a flying object; An image processing device that detects a flying object from image information captured by the device and calculates an error angle from the center of the image from position information of the flying object in the image, and inputs an error angle output from the image processing device A gimbal control device that outputs a gimbal control signal for tracking control of the flying object, and a gimbal control device that drives and controls the gimbal angle or angular velocity according to the gimbal control signal. The flying object position measuring device for measuring the spatial position of the flying object by measuring and measuring the distance to the flying object. Projectile position measuring apparatus characterized by laser directivity angle varying device is provided for directing the laser light in the direction of the flying object in an image. 2. The flying object position measuring device according to claim 1, further comprising a mechanism for directing a laser beam of the distance measuring device to a specific position of the flying object.