JPS58124199A - Method of controlling guidance of missile - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for guiding and controlling a rocket or missile conformal body.

Conventionally, as a guidance control method of this type, there is a proportional navigation method described below.
n) is famous. In addition, although the number is small, pure tracking (Pur
e Pursuit) navigation. The former is better when the target is moving quickly, and the latter can also track a relatively slow target, which has the advantage of being simple in configuration. Although the present invention can be applied to both of these navigation methods, it is particularly effective when used in combination with the latter method when targeting slow targets.

For simplicity, explanation will be given in a two-dimensional plane. In FIG. 1, let V- and Vt be the velocity vectors of the flying object 1 and the target 2, respectively. Call the line 4 connecting the flying body 1 and the eye II 2 the line of sight. Taking a certain reference line 3 fixed in the inertial coordinate system, the path angle of the flying object 1 and the 40 angle of the line of sight measured from it are r and δ, respectively.
shall be. The flying object 1 uses aerodynamic force, thrust, etc. to generate an acceleration a perpendicular to the direction of travel to track the target 2, and in proportional navigation, this acceleration is controlled so that a = Ne Vcδ. Here, Vc is the approach speed of the flying object 1 and the target 2, and Ne is what is called an effective navigation coefficient. As a result, the path angle change rate r of the flying object 1 is proportional to δ, and as long as this relationship is maintained, the flying object 1 will always reach the target 2.
will collide with. In order to implement this method with hardware, the sensor must be mounted on a two-axis gimbal to obtain δ measured in an inertial coordinate system, or if a sensor fixed to the machine axis is used, the following processing is required. That is, in FIG. 2, the angle θ between the reference line 3 and the machine axis line 5 is defined as the pitch angle, and the angle between the machine axis line 5 and the line of sight 4 is defined as . Since this is a signal beam observed by a sensor fixed to the axis of the machine, if you want to obtain δ from this, measure the pitch angular velocity θ using a rate gyro, etc., and integrate this to obtain θ, in addition to e. It is necessary to perform processing such as calculating δ.

In the pure tracking method, a sensor fixed to the above-mentioned axis is often used. In this case, the nose of the flying body 1 is always directed in the direction of the target 2 by feeding back a PD (proportional and sufficient differential) signal such as t, + Kl;, as a pitch control signal. However, since the pitch motion of the flying object 1 and the sensor signal are coupled, the control may not work properly. Wind axis (V- direction)
There is a method that performs control by measuring the angle between the line of sight and the line of sight 4. For example, Texas Instruments
nstruments) Springway (Panewa)
In y), a wind direction probe is attached to the nose of the aircraft, and the above-mentioned angle is measured using the probe attached to this, and guidance is performed using a pure tracking method. In this case, even if the attitude of the aircraft changes, the direction of the jet does not change suddenly, so the coupling between the pitch motion and the sensor signal is eliminated, and accurate guidance control is performed.

As described above, all of the conventional systems require complicated hardware configurations, such as using a gimbal-mounted sensor, a wind direction probe-mounted sensor, or a rate gyro.

SUMMARY OF THE INVENTION In order to eliminate the above-mentioned drawbacks, the present invention aims to provide an apparatus that uses a fixed axis sensor and performs accurate guidance only by simple signal processing without using a rate gyro or the like.

The present invention provides a method for guiding and controlling a flying object by processing an angle signal C1 between a line of sight and an aircraft axis obtained by a sensor attached to a flying object in a processing circuit, the angle being processed by the processing circuit. Angle signal in which the signal is filtered in advance with an extremely low frequency filter, and the angle signal εl is smoothed with a noise filter? , exceeds a predetermined threshold ε, the gain K of the processing circuit is switched to a predetermined large value Ka, and the angle signal ? , if the gain K falls within the range (gya - Δε) [ΔC is a predetermined small value], the gain K is returned to the original small value K.
The gist of this paper is the pushing method on the guidance side of a flying object, which is characterized by guiding and controlling the flying object by returning it to n.

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 4 shows an example of signal processing in a conventional pure tracking system. That is, in the figure, ε is the angle signal from the target 20 machine axes obtained from the machine axis fixed sensor, τH is the time constant of the approximate differentiation circuit, and K1. K.

The gain for i is 8. is the obtained actuator drive signal. It has already been mentioned that in this example, since the beam is coupled to the pitch motion θ of the flying body 1, there may be cases where the control is not performed.

In FIG. 5, the sensor signal is first passed through a low-pass filter 7 with a large time constant -τ to narrow the band to an extremely low frequency, and this signal is processed in the same manner as in FIG. Since the frequency of the attitude motion of flying body 1 is relatively fast,
This process makes it possible to reduce the size of the 70-kage sauce. However, on the other hand, it is not possible to follow the fast movement of the target 2, and there is a possibility that the target 2 may be out of the field of view of the sensor.

Therefore, as shown in the figure, the signal ε is smoothed by the noise filter 8. exceeds a certain threshold value ±C-, the gain switching element 10 is switched to switch the gain K to a large value Ka. signal? , returns K to its original small value, 4, once it enters the inside of Δε. In the case of a slow-moving target, the rate of change in the visual line angle δ is small until just before the collision, so using the signal processing device described above does not require complicated hardware and is The target can be tracked more accurately than the pure tracking method.

In the above embodiment, a case was described in which the pure tracking method was used in combination, but this can also be used in combination with proportional navigation. This tracking method can also be applied to navigation when an airplane approaches a target.

In addition, in Fig. 5, L/(1+τ
5) Although 20 examples are shown, this may be an appropriate filter that narrows down the band to a very low level.

As described above, according to the present invention, a sensor fixed to the aircraft axis is used and the coupling effect of the aircraft attitude movement is removed only by signal processing. , or there is an effect that a highly accurate guidance control system can be obtained.

[Brief explanation of the drawing]

Figure 1 is a diagram of the relationship between the flying object and the target when tracking the target using proportional navigation, Figure 2 is a diagram of the relationship between the flying object and the target when tracking the target using pure tracking navigation, and Figure 3 is a diagram of the relationship between the flying object and the target when tracking the target using proportional navigation. Show the image. FIG. 4 is an example of a signal processing system block diagram when conventional pure tracking navigation is used, and FIG. 5 is a signal processing system block diagram according to an embodiment of the present invention. Note that the same reference numerals in the figures indicate the same or equivalent parts. (1) Flying body, (2) Target, (3) Reference line, (4)
Eye line of sight. (5) Machine axis line, (6) sensor screen, (7) extremely low band filter. (8) Noise filter? (9) Pan-pan element with hysteresis, (L1 gain switching element. Agent Shin Kuzuno - System 1 Figure 2 Figure 3 Figure 4 Figure 5 section

Claims (1)

[Claims] A method for guiding and controlling a flying object by processing an angle signal between a line of sight and an aircraft axis obtained by a sensor attached to the flying object in a processing circuit, wherein the processing circuit If the angle signal to be processed exceeds a predetermined threshold, the gain K of the processing circuit is adjusted to a predetermined large value. Switch to the angle signal? , when the object enters the range of (ε claw - Δε) [Δε is a predetermined small value], the gain K is returned to its original small value of 4 to guide and control the flying object. How to guide and control the body.