JPH10307000A - Guiding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To secure a required visual field angle even when a missile has a large attack angle, and to obtain a wide search visual field angle simply by providing a mirror for setting an angle in the condensation direction of incident light on a condensation lens front surface and a two-dimensional sensor which has a sensing surface that is longer vertically. SOLUTION: In a guiding device 2, a mirror 5 for setting an angle in the condensation direction of incident light on the front surface of a condensing lens 4 is provided. In a two-dimensional detector 6, a detection sensor for forming the image of condensed light has a detection surface that is long vertically, thus providing a visual field 19 that is inclined downward from the body axis. When a gliding-type flying path is taken, a missile 1 flies with an attack angle 20 to extend a range. Therefore, the body axis 18 is set upward against target LOS angle direction. As a result, a target 16 may be placed outside the visual field when the visual field is narrow. In this case, a lower visual field range 19 is provided for the body axis 18, thus capturing the target 16 within a visual field even when the attack angle 20 is taken.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for guiding a flying object guided by an image guiding method.

[0002]

2. Description of the Related Art In general, a flying object guidance device guided by an image guidance method using a two-dimensional detector employs an optical system having a narrow instantaneous visual field in order to secure a resolution for extracting and tracking a target. Mounted on a gimbal mechanism that can mechanically scan in two axes, the gimbal mechanism swings to secure a wide viewing angle for search and tracking, and spatially responds to changes in the attitude angle of the aircraft. Space stabilization is performed to direct the viewing range in a fixed reference direction. However, in recent years, as the number of pixels of the two-dimensional detector has increased, even if the gimbal mechanism is eliminated and the two-dimensional detector is fixed to the body, it is possible to secure a required resolution and obtain a required field of view. Because of this, a method called "strap-down method", which performs search, tracking, and space stability processing by electronic processing from an acquired large-scale image, has been considered. FIG. 9 is a view showing a configuration of a guidance device for a flying object guided by the image guidance method of the strap-down method, wherein 1 is a flying object, 2 is a guidance device for this flying object, and 3 is a flying object. 1
, A light dome that transmits light waves emitted from a target, 4 is a condenser lens that collects light waves transmitted through the light dome 3 to a detector, and 6 is a condenser lens that is collected by the condenser lens 4. A two-dimensional detector for imaging the reflected light and outputting it as a two-dimensional image signal; 7, an image area readout controller for controlling an image readout area for an image signal output from the two-dimensional detector 6; An image signal processor for inputting an image signal of an area controlled by the controller 7 and performing processing such as extraction and tracking of a target, 9 is an inertial device for detecting the attitude angle of a flying object, and 10 is a space stabilization processor. Is shown.

Next, the operation will be described. The flying object 1 having the guidance device configured as described above acquires an image of a wide visual field at a time when approaching a predetermined distance from a target, but the size of the image that can be processed at a required speed is limited. Therefore, a part of the entire image is cut out and the processing is performed. That is, in the search stage, first, the entire image area is divided, the read area is slid by the image area read controller 7 and the search processing is performed several times, thereby performing the search processing over a wide visual field range.
Next, an area centered on the target extracted by the search processing is set as a tracking processing area, and thereafter, this area is cut out according to the guidance signal and tracking processing is performed. At this time, since the attitude angle of the body fluctuates due to the shaking, the amount of change in the attitude angle is detected by the inertial device 9 and the read address of the image is changed by the changed amount, so that the predetermined direction is always maintained regardless of the body shaking. Electronically performs a space stabilization process that enables processing of the visual field range.

[0004]

In the image guiding apparatus of the strap-down method, a large gimbal mechanism for mounting all the detectors, optical systems, and coolers required in the conventional gimbal system, a motor for driving the gimbal mechanism, and Since there is no need for a gyro mounted on the gimbal mechanism to detect the angle of the gimbal, there is a great merit that the size and cost can be reduced. However, image guidance vehicles require a wider field of view when searching, and pursue higher resolution in order to improve the ability to identify targets. Since the guidance device is configured as described above, although the size of the two-dimensional detector is progressing, while ensuring high resolution,
There was a limit to expanding the field of view. Therefore, if a flying path that does not have a propulsion device, such as a guided bomb, takes a flight path that increases the angle of attack and gains lift in order to extend the range, it can not catch the target in the field of view, or For a target moving at high speed, there is a possibility that a problem may occur such that the target deviates from the field of view of the guidance device during the search.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems. In a strap-down image-guided flying object that eliminates a gimbal mechanism, a high resolution required for target identification is secured. It is an object of the present invention to secure a required viewing angle even when a flying object has a large angle of attack and to easily obtain a wide search viewing angle.

[0006]

According to a first aspect of the present invention, there is provided a guiding device, comprising: a condensing lens; a mirror disposed in front of the condensing lens for forming an angle in a converging direction of incident light; A two-dimensional detector in which a detection sensor capable of forming an image has a vertically long detection surface, and an output image signal of the detector is input, a target is extracted and tracked, and the angle of the target from the center of the visual field is determined. An image signal processor that detects the tracking point angle, an inertial device that detects the attitude angle of the flying object, and a read area of an image from the output image of the two-dimensional detector is controlled by the attitude angle detected by the inertial device. And a space stabilization processor.

According to a second aspect of the present invention, there is provided a guiding device, a condensing lens, a mirror installed on a front surface of the condensing lens, which makes an angle in a converging direction of incident light, and a device capable of forming an image of the condensed light. A dimension detector, a mirror rotation drive mechanism that can rotate the mirror, a mirror rotation drive motor that drives the mirror rotation drive mechanism, a motor controller that controls the rotation angle of the mirror, A search processor for instructing a direction, an image signal processor for receiving an output image signal of the detector, extracting and tracking a target, and detecting an angle of the target from the center of the visual field as a tracking point angle,
An inertial device for detecting the attitude angle of the flying object, an image read area controller and a space stabilization processor for controlling an image read area from an output image of the two-dimensional detector based on the attitude angle detected by the inertial device Is provided.

The guiding device according to a third aspect of the present invention is the guiding device according to the first aspect of the present invention, wherein a mirror rotation driving mechanism that can rotate a mirror, a mirror rotation driving motor that drives the mirror rotation driving mechanism, and a mirror rotation angle. A motor controller for controlling and a search processor for instructing the motor controller in the direction of view are provided.

According to a fourth aspect of the present invention, in the guidance apparatus of the third aspect, a roll attitude angle detector is provided in the inertial device, and a signal interface path from the inertial device to the search processor is provided.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. FIG. 1 is a diagram showing a part of the configuration of a guidance device according to a first embodiment of the present invention, where 1 is a flying object,
2 is a guidance device for this flying object, 3 is a light dome which is located at the forefront of the flying object and transmits light waves emitted from the target, 4 is a condensing lens, and 5 is installed in front of the condensing lens. A mirror for making an angle in the light collecting direction of the incident light; 6, a two-dimensional detector having a vertically long detecting surface for a detection sensor capable of forming an image of the collected light; 7, an output of the two-dimensional detector 6; An image area readout controller 8 controls an image readout area for an image signal. An image signal 8 of an area controlled by the image area readout controller 7 receives an image signal, performs processing such as extraction and tracking of a target, and executes a target from the center of the visual field. Is an image signal processor that detects the angle of the object as a tracking point angle, 9 is an inertial device that detects the attitude angle of the flying object, and 10 is a field of view that is detected by the two-dimensional detector 6 based on the attitude angle detected by the inertial device 9. Image area so that it is in a certain direction Shows a spatial stabilization processor for controlling the read controller 7.

FIG. 2 is a view showing a visual field range of the guide device according to the first embodiment of the present invention. FIG. 3 shows an operation example of a guide bomb using the guide device according to the first embodiment of the present invention.
7 is the axis of view of the conventional guidance device, 18 is the axis, 1
9 is a field of view offset below the axle 18, 20
Indicates the angle of attack of the flying object.

FIG. 2 shows that a vertically elongated detector is used, and a mirror fixed at a set angle to the machine axis is installed in front of the condenser lens, so that a field of view 19 deviated below the machine axis 18 is provided. doing. As shown in FIG. 3, in the case of a guided bomb taking a trajectory flight path, the target 16 exists relatively in the direction of the machine axis 18, so that the guide bomb has a uniform field of view 17 with respect to the machine axis 18 at the time of guidance. Absent. However, when taking a glide type flight path, the flying object is flying at an angle of attack 20 for extending the range. Therefore, since the axis 18 is set upward with respect to the target LOS angle direction, there is a possibility that the target does not fit in the field of view when the field of view is narrow. Therefore, by installing a mirror in front of the condensing lens of the guiding device and installing the mirror so as to have a lower visual field range 19 with respect to the axis 18, the target 16 can be captured in the visual field even when the angle of attack 20 is set. It is possible.

Embodiment 2 FIG. FIG. 4 is a view showing a part of the configuration of a guidance device according to a second embodiment of the present invention, wherein 1 to 10 are the same as in FIG. 1, except that the two-dimensional detector 6 has a square shape, and 11 is a mirror. A mirror rotation drive mechanism for rotating the mirror 5, a mirror rotation drive motor 12 for driving the mirror rotation drive mechanism 11, a motor controller 13 for controlling the rotation angle of the mirror 5, and a motor controller 13
Shows a search processor for indicating the direction of the field of view.

FIG. 5 is a view showing a visual field range of the guidance device according to the second embodiment of the present invention. In FIG. 4, the attitude angle of the flying object is detected by the inertial device 9, and when the angle of attack is set, the motor controller 13 and the mirror rotation drive are shifted so that the direction of the field of view is shifted by the search processor 14 according to the angle. The mirror rotation drive mechanism 11 is operated via the motor 12 to rotate the angle of the mirror 5. Thus, by changing the range of the visual field in the vertical direction as shown in FIG. 5, the visual field can be directed to the target direction even when the flying object takes an angle of attack.

Embodiment 3 FIG. 6 is a view showing a part of the configuration of a guidance device according to a third embodiment of the present invention, wherein 1 to 10 are the same as those in FIG. A mirror rotation drive motor for driving the rotation drive mechanism 11, a motor controller 13 for controlling the rotation angle of the mirror 5, and a search processor 14 for instructing the motor controller 13 on the direction of the visual field.

FIG. 7 is a view showing a visual field range of the guidance device according to the third embodiment of the present invention. In FIG. 7, at the time of the target search of the guidance device, by changing the rotation angle of the mirror 5 through the motor controller 13, the mirror rotation drive motor 12, and the mirror rotation drive mechanism 11 in accordance with the instruction of the search processor 14, the search is complicated. The visual field range can be expanded to a wide visual field shown in FIG. 7 with only a simple mechanism without having a biaxial gimbal mechanism.

Embodiment 4 FIG. 8 is a diagram showing a part of the configuration of the guidance device according to the fourth embodiment of the present invention.
Reference numeral 4 denotes the same as in the first and third embodiments, and reference numeral 15 denotes a roll attitude angle detector in the inertial device 14. In the case of an image sensor, since the pixels have a rectangular shape, it is possible to correct the detection error angle by performing image transformation such as affine transformation with respect to roll rotation, but errors occur with respect to the signal amount and the target shape. I will. Therefore, the roll attitude angle of the flying object is detected by the roll attitude angle detector 15, and the target shape is always detected with pixels in the same direction, so that the target signal detection / stable regardless of the roll attitude angle fluctuation / It becomes possible to detect the target shape.

[0018]

According to the first aspect of the present invention, a condenser lens, a mirror installed on the front surface of the condenser lens and making an angle in a direction in which incident light is condensed, and a detection device capable of forming an image of the condensed light A two-dimensional detector in which a sensor has a vertically long detection surface and an output image signal of the detector are input, a target is extracted and tracked, and a target angle from the center of the visual field is detected as a tracking point angle. An image signal processor, an inertial device for detecting an attitude angle of the flying object, and an image read area controller for controlling an image read area from an output image of the two-dimensional detector based on the attitude angle detected by the inertial device. And a space stabilization processor to ensure the high resolution required for target identification by the strap-down method, and to secure the required viewing angle even when the flying object takes a large angle of attack, and easily Obtain a wide search viewing angle Theft can now.

According to the second aspect of the present invention, a mirror installed on the front surface of the condenser lens to form an angle in the direction of condensing the incident light, a mirror rotation driving mechanism capable of rotating the mirror, and driving the mirror rotation driving mechanism When the flying object has a large angle of attack after securing the high resolution necessary for target identification by the strap-down method by providing a drive motor to be driven and a search processor that instructs the drive motor to indicate the rotation angle But I was able to capture my goal at the center of my field of vision.

A guidance device according to a third aspect of the present invention is the guidance device according to the first aspect, wherein the mirror rotation drive mechanism for rotating the mirror, the mirror rotation drive motor for driving the mirror rotation drive mechanism, and the rotation angle of the mirror. By providing a motor controller for controlling and a search processor for instructing the view direction to the motor controller, it is possible to obtain a larger search viewing angle.

The guidance device according to a fourth aspect of the present invention is the guidance device according to the third aspect of the present invention, in which a roll attitude angle detector is provided in the inertial device, so that a signal can be detected stably irrespective of a change in the roll attitude angle of the body. You can now get the characteristics.

[Brief description of the drawings]

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

FIG. 2 is a view for explaining a visual field range of the guidance device according to the first embodiment of the present invention.

FIG. 3 is a diagram illustrating an operation of the guidance device according to the first embodiment of the present invention.

FIG. 4 is a configuration diagram showing Embodiment 2 of the guidance device according to the present invention.

FIG. 5 is a diagram illustrating a visual field range of a second embodiment of the guidance device according to the present invention.

FIG. 6 is a configuration diagram showing Embodiment 3 of the guidance device according to the present invention.

FIG. 7 is a diagram illustrating a visual field range of a guidance device according to a third embodiment of the present invention.

FIG. 8 is a configuration diagram showing Embodiment 4 of the guidance device according to the present invention.

FIG. 9 is a configuration diagram showing a conventional guidance device.

[Explanation of symbols]

1 flying object, 2 guidance device, 3 optical dome, 4 condenser lens, 5 mirror, 6 2D detector, 7 read address controller, 8 image signal processor, 9 inertia device,
10 space stabilization processing unit, 11 mirror rotation drive mechanism,
12 mirror rotation drive motor, 13 motor controller, 1
4 Search processor, 15 Roll attitude angle detector, 16 targets, 17 axle center field of view, 18 axle, 19 field of view offset from 19 axis, 20 angle of attack.

Claims (4)

[Claims] 1. A condensing lens fixed to an airframe for converging incident light in a predetermined direction, and a condensing direction of the incident light installed on a front surface of the condensing lens. And a two-dimensional detector in which a detection sensor capable of forming an image of the condensed light has a vertically long detection surface, and an output image signal of the detector is input, and extraction and tracking of a target are performed. An image signal processor that detects an angle of a target from the center of the field of view as a tracking point angle, an inertial device that detects an attitude angle of the flying object, and an attitude angle detected by the inertial device. An image readout area controller for controlling an image readout area from an output image, and the area controller so that a visual field range detected by the two-dimensional detector becomes a fixed direction based on an attitude angle detected by the inertial device. Control And a space stabilizing processor having a visual field range deviated downward around the axis of the guidance device. 2. A mirror rotation drive mechanism capable of rotating the mirror, a mirror rotation drive motor for driving the mirror rotation drive mechanism, a motor controller for controlling a rotation angle of the mirror, and a motor controller for detecting the rotation of the mirror. 2. The guidance apparatus according to claim 1, further comprising: a search processor for instructing the motor controller to shift the direction of the field of view in accordance with the angle of attack according to the attitude angle. 3. A condensing lens fixed to an airframe for converging incident light in a predetermined direction, and a condensing direction of the incident light installed on a front surface of the condensing lens. A mirror for rotating the mirror, a mirror rotation drive mechanism for rotating the mirror, a mirror rotation drive motor for driving the mirror rotation drive mechanism, a motor controller for controlling the mirror rotation angle, and motor control for searching for a target. A search processor for instructing the direction of the field of view to a detector, a two-dimensional detector having a vertically long detection surface in which a detection sensor capable of forming the condensed image is input, and an output image signal of the detector being input to a target. An image signal processor that detects and tracks the target angle from the center of the visual field as a tracking point angle, an inertial device that detects the attitude angle of the flying object, and an attitude angle that is detected by the inertial device. An image reading area controller for controlling an image reading area from an output image of the two-dimensional detector, and a space stabilization processor, and rotate a downwardly biased visual field around the axis of the guidance device. A guidance device characterized in that the visual field range can be expanded by doing so. 4. A condensing lens fixed to an airframe for converging incident light in a predetermined direction, and a condensing direction of the incident light installed on a front surface of the condensing lens. A mirror that drives the mirror, a mirror rotation drive mechanism that can rotate the mirror, a mirror rotation drive motor that drives the mirror rotation drive mechanism, a motor controller that controls the mirror rotation angle, and a motor controller that controls the mirror rotation angle. A search processor that indicates the direction of the field of view, a two-dimensional detector having a vertically long detection surface where a detection sensor capable of forming the focused image is input, and an output image signal of the detector is input;
An image signal processor that extracts and tracks a target and detects the angle of the target from the center of the field of view as a tracking point angle, an inertial device that detects the attitude angle of the flying object, and a roll attitude angle that is included in the inertial device A detector, an image reading area controller for controlling an image reading area from an output image of the two-dimensional detector based on an attitude angle detected by the inertial device, and a space stabilization processor; A guiding device, provided with a means for adjusting the rotation angle of the mirror.