JPH10148500A - Guiding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To guide an airframe, on which a guiding device is mounted at a predetermined angle of approach, to a target by a method wherein guidance is effected by a signal to which a first error angle being an angle difference between a second error angle being an angle difference between an approach angle and a relative angle and a first error angle being an angle difference between a target reflection wave direction and the direction of an antenna principal axis are added. SOLUTION: A memory 18 holds a relative angle between an airframe, on which a guiding device 1 is previously mounted, and a target 2 and a range profile calculating value. A relative angle estimator 17 retrieves a similar range profile calculating value from a memory 18 and estimates a relative angle between the airframe, on which a guidance device 1 is mounted, and the target 2 to output the relative angle to an approach angle computer 19. A relative angle outputted from the relative angle estimator 17 is inputted to the approach angle computer 19, and the computer 19 outputs a second error angle to an adder 20. The adder 20 inputs a first error angle, being an angle error between an antenna principle axis and a target reflection wave direction and a second and a second error angle, and outputs and adding error signal 14 to the outside of the guiding device.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guidance device for guiding a flying object equipped with a guidance device to a target such as a ship at a predetermined approach angle.

[0002]

2. Description of the Related Art FIG. 10 shows a conventional guidance device.
A guiding device 1 is mounted on a flying object, radiates a transmission wave toward a target 2 such as a ship, and guides the position by guiding a reflected wave from the target 2 to confirm the position. A transmission signal is input and radiated into space as a transmission wave,
The antenna 4 that receives the reflected wave from the target 2 receives the angle signal output from the angle calculator 13 and the sway signal 15 output from the outside of the guidance device, and outputs the antenna swing angle to the antenna and the angle calculator. An antenna controller 5 receives a transmission / reception switching signal output from the timing generator 11 and switches a transmission / reception, and a transmission / reception switching device 6 receives an RF (Radio Frequency) band continuous modulation signal output from the pulse phase modulator 7. A transmitter 7 for inputting and amplifying a transmission signal and outputting the amplified transmission signal to the transmission / reception switch 5.
A pulse phase modulator that receives an F-band continuous signal and a phase modulation code signal output from the timing generator 11 and outputs a modulated RF-band continuous signal to a transmitter 6. A transmission source for generating a signal, outputting an RF band continuous signal to the pulse phase modulator 7 and outputting a local signal to the receiver 9. The transmission source 9 is a reflection signal received by the antenna 3 and a transmission source 8. The receiver 10 receives the output local signal, converts the frequency, and outputs the amplified video signal to the pulse compressor 10. The receiver 10 receives the video signal output from the receiver 9 and converts the correlated narrow pulse signal. A pulse compressor for outputting to the angle error detector 12,
11 internally generates a phase modulation code signal for phase modulating the RF band converted continuous signal and a transmission / reception switching signal,
A timing generator that outputs a phase modulation code signal to the pulse phase modulator 7 and outputs a transmission / reception switching signal to the transmission / reception switching unit 5, and a narrow pulse signal 12 output from the pulse compressor 10 is input to the timing generator 12. An angle error detector 13 for detecting an angle difference between the main axis of the target and the target reflected wave direction, and 13 is an error angle output from the angle error detector 12 and the antenna controller 4
An angle calculator that inputs the current antenna swing angle output from the antenna controller and outputs an angle signal to the antenna controller 4; 14 is an error angle signal output from the angle error detector 12; This is the output shake signal.

The operation will be described with reference to FIG. In FIG. 10, a transmission source 8 internally generates an RF band continuous signal and a local signal, outputs the RF band continuous signal to a pulse phase modulator 7, and outputs a local signal to a receiver 9. The timing generator 11 internally generates a phase modulation code signal for phase modulating the RF band converted continuous signal and a transmission / reception switching signal, outputs the phase modulation code signal to the pulse phase modulator 7, and Is output to the transmission / reception switch 5. The pulse phase modulator 7 receives the RF band continuous signal output from the transmission source 8 and the phase modulation code signal output from the timing generator 11, and outputs a modulated RF band modulated continuous signal to the transmitter 6. The transmitter 6 receives the RF band modulated continuous signal output from the pulse phase modulator 7 and outputs an amplified transmission signal to the transmission / reception switch 5. The transmission / reception switch 5 receives the transmission / reception switching signal output from the timing generator 11 and switches between transmission and reception. The antenna 3 receives the transmission signal output from the transmission / reception switch 5 and radiates it to space as a transmission wave, and receives a reflected wave from the target 2. The receiver 9 receives the received signal of the reflected wave received by the antenna 3 and the local signal output from the transmission source 8, converts the frequency, and outputs the amplified video signal to the pulse compressor 10. The pulse compressor 10 receives the video signal output from the receiver 9, and outputs a narrow pulse signal subjected to correlation processing to the angle error detector 12. The angle error detector 12 receives the narrow pulse signal output from the pulse compressor 10 and
The angle difference between the main axis of the antenna and the target reflected wave direction is detected. The angle calculator 13 receives the error angle output from the angle error detector 12 and the current antenna swing angle output from the antenna controller 4, and outputs an angle signal to the antenna controller 4. The antenna controller 4 is an angle calculator 13
And an oscillation signal 15 output from the outside of the guidance device, and outputs the antenna swing angle to the antenna 3 and the angle calculator 13. The error angle signal 14 outputs the error angle output from the angle error detector 12 to the outside of the guidance device. The sway signal 15 outputs the sway of the flying object equipped with the guidance device to the antenna controller 4.

[0004]

As shown in FIG. 11 (a), in the conventional guidance device as described above, the flying object M on which the guidance device 1 is mounted flies along the flight route R indicated by a thick line. A transmission wave is radiated from the guiding device 1 to the target 2 while the reflected wave direction V from the target 2 is indicated by a broken line.
By detecting an error angle Δθ1 between 1 and an antenna main axis direction V2 indicated by a broken line, the flying object M is guided to the target 2 and hit directly. However, as shown in FIG.
The operation up to the process of guiding to the target 2 shown above is performed in the same manner. However, if the target 2 such as a ship is instantly tilted due to the surrounding environment, for example, due to the size of the sea wave, etc. As in the route R, the flying object M on which the guidance device 1 is mounted passes through the target 2. Also, as shown in FIG. 11 (c), the operation up to the above-described process of guiding to the target 2 is performed in the same manner. When the angle between the reflected wave direction V1 and the reflected wave direction V1 is a shallow approach angle, a phenomenon occurs in which the flying object M on which the guidance device 1 is mounted is rebounded from the target 2 like a flying path R indicated by a thick line.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem. Even if a flying object on which a guidance device is mounted and a target are in any positional relationship, their relative angles are obtained from acquired data. Can be estimated, and as a result, the flying object equipped with the guidance device is guided to the target at a predetermined approach angle with respect to the target.

[0006]

According to a first aspect of the present invention, there is provided a guiding apparatus to which the amplitude of a narrow pulse signal output from a pulse compressor is input, and a range profile of a target image arranged on a time axis. A range profile extractor, a relative angle between a flying object on which a guidance device is previously mounted and a target, a memory holding a plurality of range profile calculation values, and a range profile output from the range profile extractor. The calculated range profile values stored in the memory are input, search for similar range profile calculated values, and output the relative angle between the target and the flying object equipped with the guidance device to the approach angle calculator. The relative angle estimator and the relative angle output from the relative angle estimator are input, and the second error angle up to the calculated approach angle is output to the adder. And the first error angle output from the angle error detector and the second error angle output from the approach angle calculator are input, and the added error angle is output to the outside of the guidance device. A means for extracting a range profile of a target image arranged on a time axis to which an amplitude of a narrow pulse signal is inputted, and a flying object and a target on which the guide device is mounted in advance. Means for holding a plurality of range profile calculated values, a range profile and the held range profile calculated values are inputted, a similar range profile calculated value is searched, and a guidance device corresponding to the calculated range profile calculated. Means for deriving the relative angle between the mounted flying object and the target, means for receiving the relative angle and deriving a second error angle up to the calculated approach angle, and first error angle And a second error angle are input and means for deriving the added error angle; a second error angle which is an angle difference between a predetermined approach angle and a relative angle obtained from the acquired data and the retained data; There was provided a function of guiding by a signal obtained by adding a first error angle which is an angle difference between the target reflected wave direction obtained from the acquired data and the antenna main axis direction.

[0007] The guidance device according to the second invention comprises a first device.
Prior to the operation of the guidance device, the type of target is limited outside the guidance device, the relative angle between the flying object on which the limited guidance device is mounted and the target, and the first limited target of the range profile calculation value. A guidance device newly provided with an interface device for outputting a type signal to a memory and a memory for holding a first limited target type signal output from the interface device, wherein the guidance device has a target type limited outside the guidance device. Means for outputting the relative angle between the flying object carrying the target and the target, the data of the first limited target type signal of the calculated range profile value to the memory of the guidance device, and the data of the first limited target type signal. Holding means, and a second error angle which is an angle difference between a predetermined approach angle and acquired data, and a relative angle obtained from the held data inputted by limiting a target type outside the guidance apparatus. When, having a function of inducing the first signal the error angle obtained by adding the angular difference between the target returns a direction the antenna main axis direction obtained from the acquired data.

[0008] Further, the guiding device according to the third aspect of the present invention provides the guiding device of the second aspect.
In the invention according to the invention, a timing generator for outputting a pulse repetition period signal internally generated to a synthesizer, and a pulse repetition period signal output from the timing generator are input, synchronized, and a frequency conversion in which a frequency shift amount is varied. A synthesizer that outputs a signal to a frequency switcher, a pulse phase modulator that receives an RF band continuous signal output from a transmission source and a frequency converted signal output from the synthesizer, and converts an RF band converted continuous signal that is varied according to a frequency shift amount. And a frequency converter for outputting to a memory, a narrow pulse signal output from a pulse compressor and a frequency conversion signal output from a synthesizer are input, and an average narrow pulse signal averaged for each cycle is input to an angle error detector. The output averaging processor and the continuous RF band conversion signal output from the frequency switch are input. A guidance device which can select a transmission frequency, and further includes a transmission frequency, a relative angle between a flying object on which the guidance device is mounted and a target, and a memory for storing a plurality of range profile calculation values. Means for generating a pulse repetition period signal, means for receiving and synchronizing the pulse repetition period signal, generating a frequency conversion signal having a variable frequency shift amount, and receiving an RF band continuous signal and a frequency conversion signal, Means for generating an RF band conversion continuous signal that is variable according to the frequency shift amount, means for receiving a narrow pulse signal and a frequency conversion signal, and generating an average narrow pulse signal averaged for each cycle, and an output from a frequency switch RF band conversion continuous signal is input, the transmission frequency can be selected, and the transmission frequency in advance,
The relative angle between the flying object carrying the guidance device and the target,
Means for holding a plurality of range profile calculated values, a second error angle which is an angle difference between a predetermined approach angle and obtained data, a relative angle for each frequency obtained from the held data, and averaged obtained data And a function of guiding by a signal obtained by adding a first error angle, which is an angle difference between the target reflected wave direction obtained from the above and the antenna main axis direction.

Further, the guidance device according to the fourth aspect of the present invention provides the guidance device according to the third aspect.
The interface device according to the second invention,
A guidance device newly equipped with a memory, the target type is limited outside the guidance device before the guidance device operates, the relative angle between the flying object on which the limited guidance device is mounted and the target,
Means for newly adding data for each transmission frequency to the calculated range profile value and outputting it as a second limited target type signal to the memory of the guidance device; and means for holding data of the second limited target type signal; From the predetermined approach angle and the acquired data, the second error angle which is the angle difference between the relative angle for each frequency obtained from the held data input by limiting the target type outside the guidance device, and the averaged acquired data A function is provided for inducing with a signal obtained by adding a first error angle, which is an angle difference between the obtained target reflected wave direction and the antenna main axis direction.

The guiding device according to a fifth aspect of the present invention provides the guiding device according to the third aspect.
A guidance device having a similar configuration to the invention of
R output to memory from frequency switcher by changing connection method
The F band conversion continuous signal is deleted, and a means for newly outputting the average narrow pulse signal from the averaging processor to the range profile extractor is added. A signal obtained by adding a second error angle that is an angle difference between the obtained relative angle and a first error angle that is an angle difference between the target reflected wave direction and the antenna main axis direction obtained from the averaged acquired data. It has a function to guide.

Further, the guidance device according to the sixth aspect of the present invention provides the guidance device according to the fourth aspect.
A guidance device having a similar configuration to the invention of
R output to memory from frequency switcher by changing connection method
The F-band conversion continuous signal is deleted, and a means for newly outputting an average narrow pulse signal from the averaging processor to the range profile extractor is added, and a predetermined approach angle and an averaged acquisition data are set. The second error angle, which is the angle difference between the relative angle obtained from the averaged held data input with limited types, and the angle difference between the antenna main axis direction and the target reflected wave direction obtained from the averaged acquired data, A function is provided for guiding with a signal obtained by adding a certain first error angle.

Further, the guidance device according to the seventh invention is different from the conventional one in that a narrow pulse signal output from the pulse compressor at every N pulse repetition periods and a speed signal output from the guidance device are output from the guidance device. A DBS (Doppler Beam Sharp) that receives a sway signal, corrects the phase, and outputs frequency-converted level-frequency-distance information to a three-dimensional target image extractor.
leveling / frequency / distance information output from the processing unit and the DBS processing unit, is converted into level / angle / distance information, and the extracted target image data is output to the relative angle & approach angle computing unit. A three-dimensional target image extractor and image data output from the three-dimensional target image extractor are input, a relative angle between the flying object on which the guidance device is mounted and the target is estimated, and a calculated angle up to the calculated approach angle is calculated. 2. A guidance device newly provided with a relative angle & approach angle calculator for outputting the error angle of 2 to the outside of the guidance device, wherein a narrow pulse signal for every N pulse repetition periods, an own speed signal, and a motion signal are input. Means for phase-correcting and generating frequency-converted level versus frequency versus distance information, and level versus frequency versus distance information are input,
Means for generating level-to-angle-to-distance information and generating extracted target image data; and converting predetermined approach angle and acquired data to DBS-processed target image data, and obtaining the target image data. It has a function of guiding by a signal obtained by adding a second error angle which is an angle difference with the relative angle and a first error angle which is an angle difference between a target reflected wave direction and an antenna main axis direction obtained from acquired data. Was.

The guiding device according to an eighth aspect of the present invention is the guiding device according to the seventh aspect.
A guidance device having a configuration in which the third invention is added to the invention according to the first aspect, wherein a predetermined approach angle and averaged acquired data are converted into DBS-processed target image data, and obtained from the target image data. A second error angle, which is an angle difference from the obtained relative angle, and a first error, which is an angle difference between the target reflected wave direction and the antenna main axis direction obtained from the averaged acquired data.
A function of guiding by a signal obtained by adding the error angles of the above.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. 1 and 2 show a first embodiment of the present invention.
FIG. 1 is a configuration diagram and an operation diagram. In FIG. 1, as a new part compared to FIG. 10, which is a conventional configuration diagram, reference numeral 16 denotes a range in which the amplitude of the narrow pulse signal output from the pulse compressor 10 is input and a range profile of a target image arranged on a time axis is extracted. The profile extractor 17 receives the range profile output from the range profile extractor 16 and the calculated range profile value stored in the memory 18, searches the memory 18 for a similar range profile calculated value from the memory 18, and leads to the corresponding guidance. A relative angle estimator for estimating the relative angle between the flying object on which the device 1 is mounted and the target 2 and outputting it to the approach angle calculator 19; A memory for holding the relative angle of the range and a plurality of range profile calculation values, 19
Is an approach angle calculator that receives the relative angle output from the relative angle estimator 17 and outputs the second error angle up to the calculated approach angle to the adder; 20 is an antenna output from the angle error detector 12 A first error angle, which is an angle difference between the main axis and the target reflected wave direction, and a second error angle output from the approach angle calculator.
Is an adder to which the error angle is input and the added error angle is output to the outside of the guidance device. Other components are the same as the conventional example. In FIG. 2, 1 is a guidance device mounted on the flying object M, 2 is a target such as a ship for guiding the flying object M, M is a flying object equipped with the guidance device 1, and R is a flying object M Is the angle formed by the target axis AA 'shown by the dashed line and the reflected wave direction V1 from the target 2 shown by the broken line, and the relative angle between the target 2 and the flying object M , Β are the target 2 axes AA ′ and 1 indicated by the alternate long and short dash line.
The angle formed by the approach axis BB 'to the target 2 indicated by the dashed line, and the angle of approach to the target 2, V1 is the direction of the target reflected wave, V2 is the direction of the antenna main axis of the guidance device 1, and Δθ1 is the target reflected wave. A first error angle which is an angle difference between the direction V1 and the antenna main axis direction V2, Δθ2 is a second error angle which is an angle difference between the approach angle β and the relative angle α, and AA ′ is a target 2
BB ′ indicates an approach axis at which the flying object M approaches the target 2.

This operation will be described with reference to FIGS. In FIG. 1, reference numerals 1 to 14 are equivalent to the conventional operation of FIG. The range profile extractor 16 receives the amplitude of the narrow pulse signal output from the pulse compressor 10 and extracts a range profile of a target image arranged on a time axis. The memory 18 previously holds the relative angle between the flying object on which the guidance device 1 is mounted and the target 2 and a plurality of range profile calculation values. The relative angle estimator 17 receives the range profile output from the range profile extractor 16 and the calculated range profile value stored in the memory 18 and stores similar range profile calculated values in the memory 1.
8, a relative angle between the flying object on which the guidance device 1 is mounted and the target 2 corresponding thereto is estimated and output to the approach angle calculator 19. The approach angle calculator 19 is a relative angle estimator 1
The relative angle output from 7 is input, and the second error angle up to the calculated approach angle is output to the adder 20. The adder 20 receives the first error angle that is the angle difference between the antenna main axis and the target reflected wave direction output from the angle error detector 12 and the second error angle output from the approach angle calculator 19, The added error angle signal 14 is output outside the guidance device. By the above operations and the same operation as the conventional operation, FIG.
As shown in the figure, the flying object M equipped with the guidance device 1
While flying along the flight path R indicated by the bold line, a transmission wave is emitted from the guidance device 1 to the target 2 to acquire target data. A second error angle Δθ2, which is an angle difference between the relative angle α obtained from the obtained data and the retained data and a preset approach angle β, is derived, and the target reflected wave direction V1 and the antenna main axis direction obtained from the obtained data are obtained. V
The flying object M is set to the target 2 by a signal obtained by adding the respective error angles of the first error angle Δθ1, which is the angle difference with the target 2.
Guide to.

[0016] By adopting such a configuration, it is possible to guide the flying object equipped with the guidance device at a predetermined approach angle at any relative angle between the flying object on which the guidance device is mounted and the target. Enabled by this,
The phenomena generated in FIGS. 11B and 11C can be eliminated.

Embodiment 2 FIG. 2 and 3 are an operational diagram and a configuration diagram showing a second embodiment of the present invention. FIG. 2 is as described in the first embodiment. In FIG. 3, as a new part with respect to the first embodiment, reference numeral 21 designates a target type outside the guidance device before the guidance device operates, and a relative angle between the flying object on which the limited guidance device is mounted and the target. When,
First limited target type signal 2 of the calculated range profile value
An interface device for outputting the data of No. 2 to the memory 18,
Reference numeral 22 denotes a first limited target type signal of a relative angle between the flying object on which the guidance device of the limited target type is mounted and the target and a calculated range profile value. Other components are the same as in the second embodiment.

This operation will be described with reference to FIGS. In FIG. 3, reference numerals 1 to 17, 19, and 20 denote forms 1 of FIG.
Operation is equivalent to The memory 18 retains the relative angle between the limited target 2 and the flying object on which the guidance device 1 is output from the interface unit 21 and the data of the range profile calculation value. The interface device 21 limits the target type outside the guidance device before the guidance device operates, the relative angle between the limited target and the flying object on which the guidance device 1 is mounted, and the first limited target of the range profile calculation value. The data of the type signal 22 is output to the memory 18 of the guidance device 1. The first limited target type signal 22 is data of a relative angle between the target 2 limited from outside the guidance device and the flying object on which the guidance device 1 is mounted, and a range profile calculation value. As shown in FIG. 2, the flying object M equipped with the guidance device 1 moves along the flight route R indicated by a thick line with respect to the target 2 by the similar operations of the above operations and the first embodiment. A transmission wave is emitted from the guidance device 1 to acquire target data. The relative angle α obtained from the acquired data and the held data input by limiting the target type outside the guidance device
And a second error angle Δθ2, which is an angle difference between a predetermined approach angle β and a predetermined approach angle β, and a first error angle Δθ1 which is an angle difference between the target reflected wave direction V1 and the antenna main axis direction V2 obtained from the acquired data. The flying object M is guided to the target 2 by the signal obtained by adding the respective error angles.

By adopting such a configuration, the same effects as those of the first embodiment can be obtained, the size of the memory can be reduced by reducing the data amount of the relative angle and the range profile calculation value held by limiting the target type, and the acquisition range can be reduced. It can be expected to shorten the search time for the calculated value of the holding range profile similar to the profile.

Embodiment 3 2 and 4 are an operation diagram and a configuration diagram showing a third embodiment of the present invention. FIG. 2 is as described in the first embodiment. In FIG. 4, 11 is a timing generator that newly adds an internally generated pulse repetition period signal and outputs it to a synthesizer 24, and 18 is an output from a frequency switch as a new part compared to FIG. 3 of the second embodiment. A function to select the transmission frequency is newly added by inputting the converted RF band continuous signal, and the transmission frequency, the relative angle between the flying object on which the guidance device 1 is mounted and the target 2 and a plurality of range profiles The memory 23 holds the calculated values. The memory 23 receives the RF-band continuous signal output from the transmission source 8 and the frequency-converted signal output from the synthesizer 24, and newly stores the RF-band-converted continuous signal changed according to the frequency shift amount. The frequency converter 24 receives the pulse repetition period signal output from the timing generator 11 and synchronizes the frequency repetition signal. Synthesizer for outputting a variable the frequency-converted signals to the averaging processor 25 and the frequency changer 23, 25 narrow pulse signals output from the pulse compressor 10 and the synthesizer 2
4 is an averaging processor that receives the frequency conversion signal output from the controller 4 and outputs an average narrow pulse signal averaged for each cycle to the angle error detector 12. Other components are the same as in the third embodiment.

This operation will be described with reference to FIGS. In FIG. 4, 1 to 11, 12 to 17, and 19 to 20 are equivalent to the operations of the second embodiment in FIG. Timing generator 1
1 outputs the internally generated pulse repetition period signal to the synthesizer 24. The synthesizer 24 receives the pulse repetition period signal output from the timing generator 11, synchronizes the signal, and outputs a frequency conversion signal having a variable frequency shift amount to the frequency switch 23. Frequency converter 23
The RF-band continuous signal output from the transmission source and the frequency-converted signal output from the synthesizer 24 are input, and the RF-band converted continuous signal that is varied according to the frequency shift amount is output to the pulse phase modulator 7 and the memory 18. The memory 18 can select a transmission frequency according to the RF band conversion continuous signal output from the frequency switch 23, and
The relative angle between the flying object on which the guidance device 1 is mounted and the target 2 and a plurality of range profile calculation values are held. The averaging processor 25 receives the narrow pulse signal output from the pulse compressor 10 and the frequency conversion signal output from the synthesizer 24, and outputs an average narrow pulse signal averaged for each cycle to the angle error detector 12. I do. As shown in FIG. 2, by the above-described operations and the similar operation of mode 2,
The flying object M equipped with the guidance device 1 emits a transmission wave from the guidance device 1 to the target 2 and acquires target data while flying along the flight path R indicated by the bold line. The relative angle α obtained from the acquired data and the holding data selected for each transmission frequency and a preset approach angle β
A second error angle Δθ2 which is an angle difference between the target reflected wave direction and an antenna main axis direction obtained from the averaged acquired data is derived.
The flying object M is guided to the target 2 by the signal obtained by adding the respective error angles.

By adopting such a configuration, the same effect as in the first embodiment and the first error angle which is the angle difference between the direction of the reflected wave from the target and the main axis of the antenna as compared with the second embodiment can be obtained. It can be expected that the accuracy of will be improved.

Embodiment 4 2 and 5 are an operational diagram and a configuration diagram showing a fourth embodiment of the present invention. FIG. 2 is as described in the first embodiment. In FIG. 5, as a new part with respect to the third embodiment, reference numeral 21 denotes an interface device equivalent to that of FIG. 3 of the second embodiment, 26 denotes a limited transmission frequency, and a flying object on which the guidance device 1 is mounted. The relative angle to the target 2 and the second calculated range profile
Is the limited target type signal. Other components are the same as in the third embodiment.

This operation will be described with reference to FIGS. In FIG. 5, steps 1 to 20 are the same as the operations in the third embodiment in FIG. The interface device 21 limits the target type outside the guidance device before the guidance device operates, the limited transmission frequency, the relative angle between the flying object carrying the guidance device 1 and the target 2, and the range profile calculation value. The data of the second limited target type signal is output to the memory 18 of the guidance device 1.
The memory 18 stores the second output from the interface unit 21.
Of the limited target type signal. As shown in FIG. 2, the flying object M equipped with the guidance device 1 moves along the flight route R indicated by a thick line with respect to the target 2 by the similar operations of the above operations and the third embodiment. A transmission wave is emitted from the guidance device 1 to acquire target data. A second error angle Δθ2, which is an angle difference between a relative angle α for each transmission frequency and a preset approach angle β obtained from the acquired data and a target type limited from the held data input from the outside of the guidance device, is derived. The flying object M is guided to the target 2 by a signal obtained by adding each error angle of the first error angle Δθ1, which is the angle difference between the target reflected wave direction obtained from the averaged acquired data and the antenna main axis direction. I do.

With such a configuration, the effects of the first, second, and third aspects can be expected.

Embodiment 5 2 and 6 are an operation diagram and a configuration diagram showing a fifth embodiment of the present invention. FIG. 2 is as described in the first embodiment. In FIG. 6, the configuration is the same as that of the third embodiment, except that the connection between the frequency switch 23 and the memory 18 is deleted by changing the connection method, and the averaging processor and the range profile extractor 16 are newly connected. did.

This operation will be described with reference to FIGS. In FIG. 6, 1 to 15, 17, 19 to 24 are equivalent to the third embodiment in FIG. The range profile extractor 16 receives the amplitude of the average narrow pulse signal output from the averaging processor 25 and extracts the average range profile of the target images arranged on the time axis. The memory 18 holds a relative angle between the flying object on which the guidance device 1 having the average transmission frequency is mounted and the target 2 and a plurality of average range profile calculation values. As shown in FIG. 2, the flying object M on which the guidance device 1 is mounted is operated by the above-described operations and the similar operation of the third embodiment.
Emits a transmission wave from the guidance device 1 to the target 2 while flying according to the flight route R indicated by the bold line,
The target data for several transmission frequencies is acquired and averaged. A second error angle Δθ2, which is an angle difference between the relative angle α obtained from the averaged acquired data and the averaged held data and a preset approach angle β, is derived, and the target obtained from the averaged acquired data is obtained. The flying object M is guided to the target 2 by a signal obtained by adding each error angle of the first error angle Δθ1, which is the angle difference between the reflected wave direction and the antenna main axis direction.

By adopting such a configuration, since the same effects as in the first embodiment and the range profile averaged over several transmission frequencies as compared with the third embodiment, the held data is also the average range profile calculated value. Only the result is necessary, so that the range profile calculation value data for each transmission frequency becomes unnecessary, and the effects of miniaturizing the memory and shortening the search time can be expected.

Embodiment 6 FIG. 2 and 7 are an operation diagram and a configuration diagram showing a sixth embodiment of the present invention. FIG. 2 is as described in the first embodiment. In FIG. 7, the configuration is the same as that of the fourth embodiment, but the connection between the memory 18 and the frequency switch 23 is deleted by changing the connection method.
The range profile extractor 16 and the averaging processor 25 were newly connected. 27 is a guidance device 1 of a limited target type
Is a third limited target type signal of a relative angle between the flying object equipped with the target and the target 2 and an average range profile calculated value obtained by averaging several transmission frequencies.

This operation will be described with reference to FIGS. 7, reference numerals 1 to 15, 17, and 19 to 24 are the same as those of the embodiment 4 in FIG. The interface device 21 limits the target type outside the guidance device before the guidance device operates, and sets the relative angle between the flying object on which the limited guidance device 1 is mounted and the target 2 and the third value of the average range profile calculation value. The data of the limited target type signal is output to the memory. The memory 18 holds the data of the third limited target type signal output from the interface unit 21. As shown in FIG. 2, the flying object M equipped with the guidance device 1 moves along the flight route R indicated by a thick line with respect to the target 2 by the similar operations of the above operations and mode 4. A transmission wave is emitted from the guidance device 1, and target data for several transmission frequencies is acquired and averaged. A second error angle Δθ2, which is an angle difference between the relative angle α obtained from the averaged acquisition data and the averaged holding data limited and input from the outside of the guidance apparatus and a preset approach angle β, is derived and averaged. The flying object M is guided to the target 2 by a signal obtained by adding each error angle of the first error angle Δθ1, which is the angle difference between the target reflected wave direction and the antenna main axis direction obtained from the converted acquired data.

By adopting such a configuration, it is possible to expect the effects of the first, second, and third embodiments, and the downsizing of the memory and the shortening of the search time as compared with the fourth and fifth embodiments.

Embodiment 7 2 and 8 are an operation diagram and a configuration diagram showing a seventh embodiment of the present invention. FIG. 2 is as described in the first embodiment. In FIG. 8, FIG.
As a new part of the conventional example, a narrow pulse signal 28 for every N pulse repetition periods output from the pulse compressor 10 and the own speed signal 31 and the fluctuation signal 15 output from the outside of the guidance device are input. A DBS processor that outputs the phase-corrected and frequency-converted level-frequency-distance information to the three-dimensional target image extractor 29.
8, the level-to-frequency-to-distance information output from the target 2 is converted to level-to-angle-to-distance information, and the extracted target 2 is extracted.
Output to the relative angle & approach angle calculator 30
A three-dimensional target image extractor 29;
The image data of the target 2 output from is input, the relative angle between the flying object on which the guidance device 1 is mounted and the target 2 is estimated, and the second error angle, which is the angle difference up to the calculated approach angle, is calculated. A relative angle & approach angle calculator 31 to be output to the adder is a speed signal of the own vehicle at which the flying object flies. Other components are the same as the conventional example.

This operation will be described with reference to FIGS. 8, reference numerals 1 to 15 are the same as those in the conventional example of FIG. The DBS processor 28 receives the narrow pulse signal for each N pulse repetition cycles output from the pulse compressor 10 and the own speed signal 31 and the sway signal 15 output from the outside of the guidance apparatus, corrects the phase, and corrects the frequency. The converted level-frequency-distance information is output to the three-dimensional target image extractor 29. The three-dimensional target image extractor 29 receives the level-frequency-distance information output from the DBS processor 28, converts the information into level-angle-distance information, and calculates the extracted target 2 image data as a relative angle and an approach angle. Output to the container 30. Relative angle &
The approach angle calculator 30 receives the image data of the target 2 output from the three-dimensional target image extractor 29, estimates the relative angle between the flying object on which the guidance device 1 is mounted and the target 2, and calculates the calculated approach angle. The second error angle up to the angle is output outside the guidance device. By the above-described operations and the same operation as the conventional operation, as shown in FIG.
Emits a transmission wave from the guidance device 1 to the target 2 while flying according to the flight route R indicated by the bold line,
Get goal data. The acquired data is converted into target image data subjected to DBS processing based on the acquired image data, and a second error angle Δθ2, which is an angle difference between a relative angle α obtained from the target image data and a preset approach angle β, is derived. The flying object M is guided to the target 2 by a signal obtained by adding the respective error angles of the first error angle Δθ1, which is the angle difference between the target reflected wave direction obtained from the above and the antenna main axis direction.

By adopting such a configuration, the same effect as in the first embodiment and the means for holding the data of the transmission frequency, the relative angle, and the calculated value of the range profile in the memory as in the first to sixth embodiments become unnecessary. In addition, miniaturization of components and improvement in processing speed can be expected.

Embodiment 8 FIG. FIGS. 2 and 9 are an operational diagram and a configuration diagram showing an eighth embodiment of the present invention. FIG. 2 is as described in the first embodiment. In FIG. 9, the third embodiment is different from the third embodiment in that
There are 23 frequency switches, 24 synthesizers, and 25 averaging processors according to the present invention. Other components are form 7
Is equivalent to

This operation will be described with reference to FIGS. In FIG. 9, 1 to 10, 12 to 15, and 28 to 30 are equivalent to the operations of the seventh embodiment in FIG. Timing generator 1
1 outputs the internally generated pulse repetition period signal to the synthesizer 24. The synthesizer 24 receives the pulse repetition period signal output from the timing generator 11, synchronizes the signal, and outputs a frequency conversion signal having a variable frequency shift amount to the frequency switch 23. Frequency converter 23
Receives the RF-band continuous signal output from the transmission source 8 and the frequency-converted signal output from the synthesizer 24, and outputs to the pulse phase modulator 7 an RF-band-converted continuous signal that is varied according to the amount of frequency shift. The averaging processor 25 receives the narrow pulse signal output from the pulse compressor 10 and the frequency conversion signal output from the synthesizer 24, and outputs an average narrow pulse signal averaged for each cycle to the angle error detector 12. I do. As shown in FIG. 2, the flying object M equipped with the guidance device 1 moves with respect to the target 2 while flying along the flying route R indicated by a thick line by the same operation as the above operation and the operation of mode 7. A transmission wave is emitted from the guidance device 1 to acquire target data. The acquired data is converted into target image data subjected to DBS processing based on the acquired data, and a second error angle Δθ2 which is an angle difference between a relative angle α obtained from the target image data and a preset approach angle β is derived,
A first error angle Δθ, which is an angle difference between the target reflected wave direction obtained from the averaged acquired data and the antenna main axis direction.
The flying object M is guided to the target 2 by the signal obtained by adding the respective error angles of 1.

By adopting such a configuration, the same effect as in the first embodiment and the accuracy of the first error angle which is the angle difference between the direction of the reflected wave from the target and the main axis of the antenna as compared with the seventh embodiment are obtained. Can be expected to improve.

[0038]

According to the first to eighth aspects of the present invention, the flying object on which the guidance device is mounted and the target are at any relative angle,
The flying object can be guided to the target at the preset approach angle.

Further, according to the second aspect, the memory capacity can be reduced and the processing time for searching for similar data between the acquired data and the held data can be reduced as compared with the first aspect.

According to the third aspect, the accuracy of the error angle between the antenna main axis and the target reflected wave direction is improved as compared with the first aspect.

According to the fourth aspect, the accuracy of the error angle between the antenna main axis and the target reflected wave direction is improved as compared with the second aspect, and the memory capacity is reduced as compared with the third aspect. The processing time for searching for similar data between the acquired data and the retained data can be reduced.

Further, according to the fifth invention, it is not necessary to hold the data of the relative angle and the calculated value of the range profile for each transmission frequency as compared with the third invention, so that the memory capacity can be reduced and the acquisition can be achieved. The processing time for searching for similar data between data and held data is reduced.

According to the sixth aspect, it is not necessary to hold the data of the relative angle and the calculated value of the range profile for each transmission frequency as compared with the fourth aspect, so that the memory capacity can be reduced and the acquisition can be achieved. The processing time for searching for similar data between data and held data is reduced.

According to the seventh aspect, since the relative angle can be estimated from the acquired data, it is necessary to retain the retained data similar to the acquired data in the memory as compared with the first to sixth aspects. Therefore, the size and the processing time can be reduced.

According to the eighth aspect, the accuracy of the error angle between the antenna main axis and the target reflected wave direction is improved as compared with the seventh aspect.

[Brief description of the drawings]

FIG. 1 is a diagram showing Embodiment 1 of a guidance device according to the present invention.

FIG. 2 is a conceptual diagram of a guidance device according to the first to eighth embodiments.

FIG. 3 is a diagram showing Embodiment 2 of the guidance device according to the present invention;

FIG. 4 is a diagram showing Embodiment 3 of the guidance device according to the present invention.

FIG. 5 is a diagram showing Embodiment 4 of the guidance device according to the present invention.

FIG. 6 is a diagram showing Embodiment 5 of the guidance device according to the present invention.

FIG. 7 is a diagram showing Embodiment 6 of the guidance device according to the present invention.

FIG. 8 is a diagram showing Embodiment 7 of the guidance device according to the present invention.

FIG. 9 is a diagram showing Embodiment 8 of the guidance device according to the present invention.

FIG. 10 is a diagram showing a conventional guidance device.

FIG. 11 is a conceptual diagram of a conventional and guidance device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Guidance device 2 Target 3 Antenna 4 Antenna controller 5 Transmission / reception switch 6 Transmitter 7 Pulse phase modulator 8 Transmission source 9 Receiver 10 Pulse compressor 11 Timing generator 12 Angle error detector 13 Angle calculator 14 Error angle signal 15 Motion Signal 16 Range Profile Extractor 17 Relative Angle Estimator 18 Memory 19 Entry Angle Calculator 20 Adder 21 Interface Unit 22 First Limited Target Type Signal 23 Frequency Switcher 24 Synthesizer 25 Averaging Processor 26 Second Limiter Target type signal 27 Third limited target type signal 28 DBS processor 29 Three-dimensional target image extractor 30 Relative angle & approach angle calculator 31 Own speed signal M Flying object

Claims (8)

[Claims] 1. A transmission source for internally generating an RF (Radio Frequency) band continuous signal and a local signal, outputting the RF band continuous signal to a pulse phase modulator, and outputting a local signal to a receiver. A phase modulation code signal for phase modulation of the RF band continuous signal and a transmission / reception switching signal are internally generated, the phase modulation code signal is output to the pulse phase modulator, and the transmission / reception switching signal is switched. A pulse generator that outputs a timing generator that outputs to a transmitter, a continuous RF band signal output from a transmission source, and a phase modulation code signal that is output from a timing generator, and outputs a modulated continuous RF band modulation signal to a transmitter. A modulator, a transmitter to which an RF band modulated continuous signal output from a pulse phase modulator is input, and outputs an amplified transmission signal to a transmission / reception switch; and a transmission / reception switching signal output from a timing generator. Signal, a transmission / reception switch that switches between transmission and reception, an antenna that receives a transmission signal output from the transmission / reception switch, radiates it to space as a transmission wave, receives a reflected wave from a target, and a reflected wave received by the antenna The receiver receives the received signal and the local signal output from the transmission source, receives the frequency-converted and amplified video signal, and outputs the amplified video signal to the pulse compressor. The receiver receives the video signal output from the receiver, and performs correlation processing. A pulse compressor that outputs a pulse signal to an angle error detector and a range profile extractor, and a narrow pulse signal output from the pulse compressor is input, and a second pulse detector that detects an angle difference between the main axis of the antenna and a target reflected wave direction. An angle error detector that outputs an error angle of 1 to an angle calculator and an adder; a first error angle output from the angle error detector; and a current error output from an antenna controller. An antenna swing angle is input, an angle calculator that outputs an angle signal to an antenna controller, and an angle signal output from the angle calculator and a sway signal output from outside the guidance device are input processed, and the antenna swing angle is input. An antenna controller that outputs an angle to an antenna and an angle calculator; and a range profile extractor that receives an amplitude of a narrow pulse signal output from a pulse compressor and extracts a range profile of a target image arranged on a time axis. A relative angle between the flying object on which the guidance device is mounted in advance and the target, a memory for storing a plurality of range profile calculation values, a range profile output from the range profile extractor, and a range profile calculation value stored in the memory. Is input, the similar range profile calculation value is retrieved from the memory, and the corresponding guidance device is mounted. A relative angle estimator that outputs the relative angle between the flying object and the target to the approach angle calculator, and a relative angle output from the relative angle estimator are input, and a second error angle up to the calculated approach angle is added. Angle calculator output to the device, the first error angle output from the angle error detector and the second error angle output from the angle calculator are input, and the added error angle is output to the outside of the guidance device. Guidance device composed of an output adder. 2. A transmission source that internally generates an RF band continuous signal and a local signal, outputs the RF band continuous signal to a pulse phase modulator, and outputs a local signal to a receiver.
A phase modulation code signal for phase modulation of the RF band continuous signal and a transmission / reception switching signal are internally generated, the phase modulation code signal is output to the pulse phase modulator, and the transmission / reception switching signal is switched. A timing generator that outputs to the
A pulse phase modulator that receives an RF band continuous signal output from a transmission source and a phase modulation code signal output from a timing generator and outputs a modulated RF band modulated continuous signal to a transmitter, and a pulse phase modulator. A transmitter that receives the output RF-band modulated continuous signal and outputs an amplified transmission signal to a transmission / reception switch; a transmission / reception switch that receives a transmission / reception switching signal output from a timing generator and switches between transmission and reception; An antenna receives a transmission signal output from the switch and radiates into space as a transmission wave, receives a reflected wave from a target, and receives a received signal of the reflected wave received by the antenna and a local signal output from a transmission source. , A receiver that outputs a frequency-converted and amplified video signal to a pulse compressor,
A video signal output from the receiver is input, a pulse compressor that outputs the correlated narrow pulse signal to the angle error detector and the range profile extractor, and a narrow pulse signal output from the pulse compressor is input, An angle error detector that outputs a first error angle detected from an angle difference between the main axis of the antenna and the target reflected wave direction to an angle calculator, a first error angle output from the angle error detector, and an antenna controller The current antenna swing angle output from the controller is input and the angle calculator outputs the angle signal to the antenna controller, and the angle signal output from the angle calculator and the sway signal output from outside the guidance device are input. The antenna controller that processes and outputs the antenna swing angle to the antenna and angle calculator, and the amplitude of the narrow pulse signal output from the pulse compressor are input and arranged on the time axis A range profile extractor for extracting the range profile of the target image, and a target type limited outside the guidance device before the guidance device operates, a relative angle between the flying object on which the limited guidance device is mounted and the target, An interface unit that outputs a first limited target type signal, which is data of a range profile calculation value, to a memory, a memory that holds the first limited target type signal output from the interface unit, and an output that is output from a range profile extractor The entered range profile data and the limited range profile calculation value stored in the memory are input, and the similar range profile calculation value is retrieved from the memory, and the relative distance between the flying object equipped with the corresponding guidance device and the target is calculated. A relative angle estimator that outputs angles to the approach angle calculator, and a relative angle that is output from the relative angle estimator An entering angle calculator for inputting and outputting a second error angle up to the calculated approach angle to the adder, a first error angle output from the angle error detector and a second error output from the entering angle calculator. And an adder for receiving the error angle of (i) and outputting the added error angle to the outside of the guidance device. 3. A transmission source for internally generating an RF band continuous signal and a local signal, outputting the RF band continuous signal to a frequency switch, and outputting a local signal to a receiver, and internally converting an RF band. Generate a phase modulation code signal for phase modulating a continuous signal, a transmission / reception switching signal, and a pulse repetition period signal, output the phase modulation code signal to the pulse phase modulator, and switch the transmission / reception switching signal. A timing generator that outputs a pulse repetition period signal to a synthesizer, and a pulse repetition period signal output from the timing generator, and synchronizes the frequency conversion signal with a variable frequency shift amount. A synthesizer output to the switch, a continuous RF band signal output from the transmission source, and a frequency conversion signal output from the synthesizer are input, and the frequency A frequency converter that outputs a continuous RF band conversion signal that varies according to the shift amount to a pulse phase modulator and a memory; and a continuous RF band conversion signal that is output from the frequency converter and a phase modulation code signal that is output from a timing generator. A pulse phase modulator for inputting and outputting a modulated continuous RF band modulation signal to a transmitter, and a continuous RF band modulation signal output from the pulse phase modulator and outputting an amplified transmission signal to a duplexer A transmitter, a transmission / reception switching signal output from a timing generator is input, and a transmission / reception switch for switching between transmission and reception, and a transmission signal output from the transmission / reception switching device are input and radiated to space as a transmission wave and reflected from a target. An antenna that receives a wave, a received signal of a reflected wave received by the antenna, and a local signal output from a transmission source are input, frequency-converted, and amplified video signals. And a pulse compressor that receives a video signal output from the receiver and outputs a correlated narrow pulse signal to an averaging processor and a range profile extractor. An averaging processor, which receives the narrow pulse signal output from the controller and the frequency-converted signal output from the synthesizer, outputs an average narrow pulse signal averaged for each cycle to the angle error detector, and an averaging processor. An angle error detector to which the output average narrow pulse signal is input and outputs to a angle calculator a first error angle that has detected an angle difference between the main axis of the antenna and the target reflected wave direction, and an output from the angle error detector. The input first error angle and the current antenna swing angle output from the antenna controller are input-processed,
An angle calculator that outputs the angle signal to the antenna controller, and the angle signal output from the angle calculator and the sway signal output from the outside of the guidance device are input processed, and the antenna swing angle is output to the antenna and the angle calculator Antenna controller, an amplitude of a narrow pulse signal output from a pulse compressor, a range profile extractor for extracting a range profile of a target image arranged on a time axis, and an RF output from a frequency switch. A band conversion continuous signal is inputted, a transmission frequency can be selected, and a transmission frequency, a relative angle between the flying object on which the guidance device is mounted and the target, and a memory holding a plurality of range profile calculated values, The range profile output from the range profile extractor and the range profile calculation value stored in the memory are input, and similar ranges are input. A relative angle estimator that retrieves the calculated value of the rofil from the memory and outputs the relative angle between the flying object carrying the guidance device and the target to the approach angle calculator, and the relative angle output from the relative angle estimator. An angle is input, an approach angle calculator for outputting a second error angle up to the calculated approach angle to the adder, and a first error angle output from the angle error detector and output from the approach angle calculator. Second
And an adder for receiving the error angle of (i) and outputting the added error angle to the outside of the guidance device. 4. A transmission source for internally generating an RF band continuous signal and a local signal, outputting the RF band continuous signal to a frequency switch, and outputting a local signal to a receiver, and internally converting an RF band. Generate a phase modulation code signal for phase modulating a continuous signal, a transmission / reception switching signal, and a pulse repetition period signal, output the phase modulation code signal to the pulse phase modulator, and switch the transmission / reception switching signal. A timing generator that outputs a pulse repetition period signal to a synthesizer, and a pulse repetition period signal output from the timing generator, and synchronizes the frequency conversion signal with a variable frequency shift amount. A synthesizer output to the switch, a continuous RF band signal output from the transmission source, and a frequency conversion signal output from the synthesizer are input, and the frequency A frequency converter that outputs a continuous RF band conversion signal that varies according to the shift amount to a pulse phase modulator and a memory; and a continuous RF band conversion signal that is output from the frequency converter and a phase modulation code signal that is output from a timing generator. A pulse phase modulator for inputting and outputting a modulated continuous RF band modulation signal to a transmitter, and a continuous RF band modulation signal output from the pulse phase modulator and outputting an amplified transmission signal to a duplexer A transmitter, a transmission / reception switching signal output from a timing generator is input, and a transmission / reception switch for switching between transmission and reception, and a transmission signal output from the transmission / reception switching device are input and radiated to space as a transmission wave and reflected from a target. An antenna that receives a wave, a received signal of a reflected wave received by the antenna, and a local signal output from a transmission source are input, frequency-converted, and amplified video signals. And a pulse compressor that receives a video signal output from the receiver and outputs a correlated narrow pulse signal to an averaging processor and a range profile extractor. An averaging processor, which receives the narrow pulse signal output from the controller and the frequency-converted signal output from the synthesizer, outputs an average narrow pulse signal averaged for each cycle to the angle error detector, and an averaging processor. An angle error detector that receives the output average narrow pulse signal and outputs a first error angle detected by detecting an angle difference between a main axis of the antenna and a target reflected wave direction to an angle calculator and an adder; An angle calculator for inputting the first error angle output from the antenna and the current antenna swing angle output from the antenna controller and outputting an angle signal to the antenna controller The angle signal output from the angle calculator and the sway signal output from outside the guidance device are input-processed, the antenna controller outputs the antenna swing angle to the antenna and the angle calculator, and the pulse signal is output from the pulse compressor. The range profile extractor that receives the amplitude of the narrow pulse signal and extracts the range profile of the target image arranged on the time axis, limits the target type outside the guidance device before the guidance device operates, and sets the limited transmission frequency and An interface unit for outputting, to a memory, a relative angle between a flying object on which a guidance device is mounted and a target, a second limited target type signal which is data of a range profile calculation value, and an RF output from a frequency switch The band conversion continuous signal and the second limited target type signal output from the interface unit are input, and the transmission frequency can be selected by the RF band conversion continuous signal. And a memory for storing the data of the second limited target type signal, a range profile output from the range profile extractor and a range profile calculated value stored in the memory, and a similar range profile calculated value. And a relative angle estimator that outputs the relative angle between the flying object carrying the guidance device and the target to the approach angle calculator, and the relative angle output from the relative angle estimator. And an approach angle calculator that outputs a second error angle up to the calculated approach angle to the adder, a first error angle output from the angle error detector, and a second error angle output from the approach angle calculator. A guidance device comprising an adder to which an error angle is input and which outputs the added error angle to the outside of the guidance device. 5. A transmission source for internally generating an RF band continuous signal and a local signal, outputting the RF band continuous signal to a frequency switch, and outputting a local signal to a receiver, and internally converting an RF band. Generate a phase modulation code signal for phase modulation of a continuous signal, a transmission / reception switching signal and a pulse repetition period signal, output the phase modulation code signal to a pulse phase modulator, and transmit / receive a switching signal to a transmission / reception switch. Output, and
A timing generator that outputs a pulse repetition period signal to a synthesizer, and a synthesizer that receives a pulse repetition period signal output from the timing generator, synchronizes the frequency repetition signal, and outputs a frequency conversion signal having a variable frequency shift amount to a frequency switcher. A frequency converter that receives an RF band continuous signal output from a transmission source and a frequency converted signal output from a synthesizer, and outputs an RF band converted continuous signal that is variable according to a frequency shift amount to a pulse phase modulator; A pulse phase modulator that receives an RF band conversion continuous signal output from a transmitter and a phase modulation code signal output from a timing generator and outputs a modulated RF band modulation continuous signal to a transmitter, and a pulse phase modulator. R output
A transmitter that receives an F-band modulated continuous signal and outputs an amplified transmission signal to a transmission / reception switch; a transmission / reception switch that receives a transmission / reception switching signal output from a timing generator and switches between transmission and reception; An output transmission signal is input, radiates into space as a transmission wave, receives an reflected wave from a target, and receives a reflected wave received by the antenna and a local signal output from a transmission source, and performs frequency conversion. A receiver for outputting the amplified video signal to the pulse compressor; a pulse compressor for receiving the video signal output from the receiver and outputting a correlated narrow pulse signal to an averaging processor; The narrow pulse signal output from the synthesizer and the frequency conversion signal output from the synthesizer are input, and the average narrow pulse signal averaged every cycle is detected as an angle error. And an averaging processor that outputs the average narrow pulse signal output from the averaging processor, and a first error angle that detects an angle difference between the main axis of the antenna and the target reflected wave direction. Is output to an angle calculator and an adder, the first error angle output from the angle error detector and the current antenna swing angle output from the antenna controller are input processed, and the angle signal is output. And an antenna that outputs the antenna swing angle to the antenna and the angle calculator, where the angle signal output from the angle calculator and the sway signal output from outside the guidance device are input processed. A controller and a range profile extractor for receiving the amplitude of the average narrow pulse signal output from the averaging processor and extracting an average range profile of target images arranged on the time axis. A vessel, the relative angle between the pre-induction device flying object and the target that towers and a memory for holding a plurality of average range profile calculated values,
The average range profile output from the range profile extractor and the average range profile calculation value stored in the memory are input, and a similar average range profile calculation value is retrieved from the memory, and a flying device equipped with a corresponding guiding device is searched. A relative angle estimator that outputs a relative angle between the vehicle and the target to an approach angle calculator, and a adder that receives a relative angle output from the relative angle estimator and adds a second error angle up to the calculated approach angle The first error angle output from the approach angle calculator and the angle error detector and the second error angle output from the approach angle calculator are input to the controller, and the added error angle is output to the outside of the guidance device. Guidance device composed of an adder. 6. A transmission source for internally generating an RF band continuous signal and a local signal, outputting the RF band continuous signal to a frequency switch, and outputting a local signal to a receiver, and internally converting an RF band. Generate a phase modulation code signal for phase modulation of a continuous signal, a transmission / reception switching signal and a pulse repetition period signal, output the phase modulation code signal to a pulse phase modulator, and transmit / receive a switching signal to a transmission / reception switch. Output, and
A timing generator that outputs a pulse repetition period signal to a synthesizer, and a synthesizer that receives a pulse repetition period signal output from the timing generator, synchronizes the frequency repetition signal, and outputs a frequency conversion signal having a variable frequency shift amount to a frequency switcher. A frequency converter that receives an RF band continuous signal output from a transmission source and a frequency converted signal output from a synthesizer, and outputs an RF band converted continuous signal that is variable according to a frequency shift amount to a pulse phase modulator; A pulse phase modulator that receives an RF band conversion continuous signal output from a transmitter and a phase modulation code signal output from a timing generator and outputs a modulated RF band modulation continuous signal to a transmitter, and a pulse phase modulator. R output
A transmitter that receives an F-band modulated continuous signal and outputs an amplified transmission signal to a transmission / reception switch; a transmission / reception switch that receives a transmission / reception switching signal output from a timing generator and switches between transmission and reception; An output transmission signal is input, radiates into space as a transmission wave, receives an reflected wave from a target, and receives a reflected wave received by the antenna and a local signal output from a transmission source, and performs frequency conversion. A receiver for outputting the amplified video signal to the pulse compressor; a pulse compressor for receiving the video signal output from the receiver and outputting a correlated narrow pulse signal to an averaging processor; The narrow pulse signal output from the synthesizer and the frequency conversion signal output from the synthesizer are input, and the average narrow pulse signal averaged every cycle is detected as an angle error. And an averaging processor that outputs the average narrow pulse signal output from the averaging processor, and a first error angle that detects an angle difference between the main axis of the antenna and the target reflected wave direction. And an angle error detector that outputs the angle signal to the angle calculator, the first error angle output from the angle error detector, and the current antenna swing angle output from the antenna controller are input-processed, and the angle signal is controlled by the antenna. An angle calculator that outputs the angle signal output from the angle calculator and an oscillating signal output from the outside of the guidance device to an antenna controller that outputs the antenna swing angle to the antenna and the angle calculator; A range profile extractor to which the amplitude of the average narrow pulse signal output from the averaging processor is input and which extracts an average range profile of target images arranged on the time axis; Before the operation of the guidance device, the type of the target is limited outside the guidance device, and the relative angle between the flying object on which the limited guidance device is mounted and the target and the third limited target type signal of the average range profile calculation value are stored in the memory. An interface unit for outputting, a memory for holding data of the third limited target type signal output from the interface unit, an average range profile output from the range profile extractor, and a calculated average range profile value stored in the memory Is input, a similar average range profile calculation value is retrieved from the memory, and a relative angle estimator that outputs a relative angle between the target and a flying object equipped with a guidance device to an approach angle calculator, and a relative angle estimator. An approach angle operation in which the relative angle output from the angle estimator is input and a second error angle up to the calculated approach angle is output to the adder. An adder that receives the first error angle output from the angle error detector and the second error angle output from the approach angle calculator and outputs the added error angle to the outside of the guidance device; Guidance device configured. 7. A transmission source for internally generating an RF band continuous signal and a local signal, outputting the RF band continuous signal to a pulse phase modulator, and outputting a local signal to a receiver.
A phase modulation code signal for phase modulation of the RF band continuous signal and a transmission / reception switching signal are internally generated, the phase modulation code signal is output to the pulse phase modulator, and the transmission / reception switching signal is switched. A timing generator that outputs to the
A pulse phase modulator that receives an RF band continuous signal output from a transmission source and a phase modulation code signal output from a timing generator and outputs a modulated RF band modulated continuous signal to a transmitter, and a pulse phase modulator. A transmitter that receives the output RF-band modulated continuous signal and outputs an amplified transmission signal to a transmission / reception switch; a transmission / reception switch that receives a transmission / reception switching signal output from a timing generator and switches between transmission and reception; An antenna receives a transmission signal output from the switch and radiates into space as a transmission wave, receives a reflected wave from a target, and receives a received signal of the reflected wave received by the antenna and a local signal output from a transmission source. , Frequency conversion,
A receiver that outputs the amplified video signal to the pulse compressor, and a pulse compressor that receives the video signal output from the receiver and outputs the correlated processed narrow pulse signal to the angle error detector and the range profile extractor. An angle error detector to which a narrow pulse signal output from the pulse compressor is input and a first error angle detected by detecting an angle difference between the main axis of the antenna and the target reflected wave direction is output to an angle calculator and an adder; ,
The first error angle output from the angle error detector and the current antenna swing angle output from the antenna controller are input-processed, and an angle calculator that outputs an angle signal to the antenna controller; An output of the angle signal and a shaking signal output from the outside of the guidance device are input-processed, and an antenna controller for outputting the antenna swing angle to the antenna and the angle calculator, and N pulse repetitions output from the pulse compressor Narrow pulse signal for each cycle and own speed signal and sway signal output from the outside of the guidance device are input and phase corrected.
DBS (Doppler Beam Sharpenin) that outputs frequency-converted level-frequency-distance information to a three-dimensional target image extractor
g) The level versus frequency versus distance information output from the processor and the DBS processor is input, converted to level versus angle versus distance information, and the extracted target image data is output to the relative angle & approach angle calculator. A three-dimensional target image extractor and image data output from the three-dimensional target image extractor are input, and a relative angle between the flying object on which the guidance device is mounted and the target is estimated,
A relative angle & approach angle calculator for outputting the second error angle up to the calculated approach angle to the adder, and a first error angle and relative angle & approach angle calculator output from the angle error detector and output from the angle error detector. And an adder to which the second error angle is input and outputs the added error angle to the outside of the guidance device. 8. A transmission source that internally generates an RF band continuous signal and a local signal, outputs the RF band continuous signal to a frequency switch, and outputs a local signal to a receiver, and internally converts an RF band. Generate a phase modulation code signal for phase modulating a continuous signal, a transmission / reception switching signal, and a pulse repetition period signal, output the phase modulation code signal to the pulse phase modulator, and switch the transmission / reception switching signal. A timing generator that outputs a pulse repetition period signal to a synthesizer, and a pulse repetition period signal output from the timing generator, and synchronizes the frequency conversion signal with a variable frequency shift amount. A synthesizer output to the switch, a continuous RF band signal output from the transmission source, and a frequency conversion signal output from the synthesizer are input, and the frequency A frequency converter that outputs a continuous RF band conversion signal that varies according to the shift amount to a pulse phase modulator and a memory; and a continuous RF band conversion signal that is output from the frequency converter and a phase modulation code signal that is output from a timing generator. A pulse phase modulator for inputting and outputting a modulated continuous RF band modulation signal to a transmitter, and a continuous RF band modulation signal output from the pulse phase modulator and outputting an amplified transmission signal to a duplexer A transmitter, a transmission / reception switching signal output from a timing generator is input, and a transmission / reception switch for switching between transmission and reception, and a transmission signal output from the transmission / reception switching device are input and radiated to space as a transmission wave and reflected from a target. An antenna that receives a wave, a received signal of a reflected wave received by the antenna, and a local signal output from a transmission source are input, frequency-converted, and amplified video signals. And a pulse compressor that receives a video signal output from the receiver and outputs a correlated narrow pulse signal to an averaging processor and a range profile extractor. An averaging processor, which receives the narrow pulse signal output from the controller and the frequency-converted signal output from the synthesizer, outputs an average narrow pulse signal averaged for each cycle to the angle error detector, and an averaging processor. An angle error detector that receives the output average narrow pulse signal and outputs a first error angle detected by detecting an angle difference between a main axis of the antenna and a target reflected wave direction to an angle calculator and an adder; An angle calculator for inputting the first error angle output from the antenna and the current antenna swing angle output from the antenna controller and outputting an angle signal to the antenna controller The angle signal output from the angle calculator and the sway signal output from outside the guidance device are input-processed, the antenna controller outputs the antenna swing angle to the antenna and the angle calculator, and the pulse signal is output from the pulse compressor. The average narrow pulse signal for every N pulse repetition periods, the own speed signal and the sway signal output from the outside of the guidance apparatus are input, and the phase-corrected and frequency-converted average level-frequency-distance information is converted to 3
A DBS processor for outputting to the two-dimensional target image extractor;
3D target image extraction which receives the average level versus frequency versus distance information output from the processor, converts the information into average level versus angle versus distance information, and outputs the extracted average target image data to a relative angle & approach angle calculator. Target image data output from the target and the three-dimensional target image extractor are input, the relative angle between the target on which the guidance device is mounted and the target is estimated, and the second error up to the calculated approach angle is calculated. A relative angle & approach angle calculator for outputting the angle to the adder, a first error angle output from the angle error detector and a second error angle output from the relative angle & approach angle calculator, A guidance device comprising an adder that outputs the added error angle to the outside of the guidance device.