JPS5842432B2 - target tracking device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a self-tracking missile, and in particular to a pseudo-optical target-seeking device of the type that is adapted to be automatically directed to a source of electromagnetic waves, such as infrared radiation.

The target pursuit device of the present invention is a radiation response device that tracks a moving target while emitting radiation.

This target-seeking device is used to steer an air-to-air missile along a calculated course that will cause the missile to collide with a target that is a source of infrared energy, such as the exhaust conduit of a jet aircraft or the exhaust stack of a propeller aircraft. Can be used.

The present invention (j) primarily relates to an improvement in a target pursuit device stabilized by a gyro that continuously tracks a target.

To do this, the target pursuer calculates the angular difference or error between a line drawn along the axis of rotation of the rotor of the free gyro, of which the target pursuer forms part, and the line of sight between the target pursuer and the target. , the error information must be used to cause the gyro rotor to precess so that the axis of rotation of the gyro rotor, that is, the gyro axis, and the line of sight between the target pursuit device and the target coincide. .

For example, when the target pursuit device of the present invention is used in an air-to-air guided missile, the device is attached to the head of the missile with its longitudinal axis along the longitudinal axis of the missile,
The angular difference between the gyro axis and the missile's longitudinal axis is used to control the course to guide the missile.

In addition to having a device that measures the angular difference between the gyro axis and the line of sight between the target pursuit device and the target,
The target-seeking device, i.e. the head of the device, also includes a device for detecting the angular difference between the gyroscopic axis and the longitudinal axis of the missile.

Such angular differences are detected in the form of electrical signals, which are amplified and used to control and actuate the wings of the missile, thereby directing the missile towards the target.

The rotor of the gyro, which forms part of the head mechanism of the target pursuit device, holds one permanent magnet.

This magnet rotates with its mechanism and a homogeneous focusing mirror that reflects the image of the target.

A mirror so that the image of the target reflected by this mirror moves within a circle? :! Tilt at a small angle to the gyro axis.

When the line of sight from the head of the target pursuit device to the target matches the axis of the gyro, that is, when the target is on the gyro axis, it is mounted on the longitudinal axis of the head of the target pursuit device and one part of the head An image 111 of a target reflected by a radiant energy device, such as a photocell, forming a section rotates around the radiant energy device but does not strike its cathode.

When the target is not directly on the gyro axis but slightly shifted, Lt is a circular path along which the reflected image of the target moves (
generate an electrical signal across the cathode of the radiant energy device;

The frequency of this signal (equal to the spin frequency of the rotor of one gyro).

There is a relationship between the position of the magnetic poles of the permanent magnet and the signal generated by the radiant energy device when there is an angle between the gyro axis and the line of sight between the head of the target pursuit device and the target. A permanent magnet is fixed to the rotor of the gyro as it exists.

To eliminate the angle, the gyroscope It is precessed by the interaction between the magnetic field of the permanent magnet and the magnetic field of the non-rotating electric winding or precession coil surrounding the magnet.

Output of radiant energy device? 1 is amplified and then applied to the precession coil, so the interaction between the magnetic field of the permanent magnet and the precession coil produces a precession torque in the appropriate direction on the gyro, and the gyro axis and target pursuit device It acts to eliminate the angle between the head of the target and the line of sight to the target.

In other words, if the reflector is properly related to the magnetic pole position of the permanent magnet, then during spinning the magnetic pole will be angularly correctly oriented with respect to the periodic magnetic field of the coil (generated by the signal pulses that energize the coil). is applied, thereby exerting a torque on the spinning magnet as a result of the interaction between the magnet and the periodic magnetic field, which causes the gyro to precess in a straight line and remove the target from the head of the target seeker. Align Maz's line of sight with the gyro axis, and make the angle between them zero.

Gyro of the present invention (111 is not attached to 1 gimbal, 1
In contrast to the conventional device, which performs rotation and precession movements around two central universal bearings, the conventional device decomposes the error signal into two components and precesses the gyro around two gimbal axes. I needed to exercise.

In the conventional device, the scanning element, decomposition element, and gyro element were separate units, whereas in the present invention, the scanning element, decomposition element, and gyro element (all are combined into one unit), so the configuration of the device is ct is considerably simpler and can track targets even under high roll rate conditions of its support structure.

Other similar devices Lf of the prior art have the disadvantage that the tracking is done in two dimensions and the signal is decomposed into two components corresponding to each dimension.

With the present invention, tracking is accomplished without the need to decompose the signal into two components for two coordinate axes, and without the need to operate two separate amplifiers, servos, synchronizers, etc.

In other words, a permanent magnet and a scanning mirror spin like a gyroscope around the gyro axis, and when the gyro axis is not aligned with the line of sight, the signal generated when the gyro axis is not aligned with the line of sight is generated by causing the magnet to precess and rotate the gyro axis. They are fixed together in such a relationship that they can be applied to the magnet via an amplifier and a coil to match the radiation source.

Therefore, only one coil and one amplifier are required, as opposed to a precession mechanism having two coils and two amplifiers, which requires decomposing the tracking signal into two components.

This is a very important feature when installing this device on a missile.

In conventional devices, the gyros are mounted on gimbals, and the signals that cause the gyros to precess are resolved with respect to the orientation of their gimbals.

If the missile rolls about its longitudinal axis, the precession signals must change rapidly as the gimbal axis changes to keep them properly oriented.

Additionally, in conventional systems, torque is applied to the gyro by the rolling of the missile itself, which is not the case with the present invention.

In the present invention, the 01 precession device is configured such that rolling of the missile has no effect on the signals required to maintain the gyro on target.

A single universal bearing support used for the gyro in the present invention allows rotation at any angle within certain limits.

This feature is important for gyros that are subject to large inertial forces, eliminating severe balancing errors, making manufacturing easier and increasing reliability.

The target pursuit device of the present invention is installed at the front end of a missile for the purpose of missile guidance.

The longitudinal axis of the head of the target pursuit device &-1° is mounted on the missile such that its axis coincides with the longitudinal axis of the missile.

In other words, the forward rake becomes the forward and guiding section on the missile.

The missile's warhead and propulsion device are mounted behind the head.

In the head of the target pursuit device of the present invention, the gyro rotor is mounted on one central pivot bearing, and the precession torque is 2
It is not broken down into two components.

Precession torque is applied without a physical connection between the gyro rotor and the precession device.

The transmission of this torque takes place by the interaction between the magnetic field periodically generated by the fixed electrical winding of the precession coil and the magnetic field of the moving permanent magnet held by the rotor of the gyro.

Time G when applying the signal pulse to the precession coil! , the interaction between the magnetic field of the permanent magnet and the magnetic field generated by the current flowing through the precession coil applies a precession torque to the gyro in exactly the correct direction, causing the gyro axis to move between the head of the target pursuit device and the target. is related to the angular position of the north-south pole axis of the permanent magnet with respect to the precession coil so as to align it again with the line of sight of the precession coil.

Infrared-seeking missiles benefit from the use of relatively narrow field of view line-of-sight telescope assemblies.

It is desirable for the target pursuit device to maintain the target within its field of view even when the missile vibrates.

This is done according to one embodiment of the present invention.

It is therefore clear that the importance of the invention lies in the stabilization of the aiming device independent of missile vibrations.

It is therefore an object of the present invention to provide a gyro-stabilized telescope for tracking targets etc. such that the gyro axis always points to the target.

Another object of the invention (i) is to provide a tracking device as described above which realigns the gyro with respect to the line of sight of the tracking device by precessing the gyro by interacting magnetizing forces.

Other objects of the invention (1. The electrical signal pulses generated as a result of the deviation in a given orientation from the gyro axis of the line of sight between the missile and the target and the angle of the permanent magnet held by the gyro's rotor. It is an object of the present invention to provide a tracking device as described above, in which the direction of precession of the gyro in a proper orientation is achieved by the relationship between the position and the position.

Another object of the invention is to use a homing missile with a gyro stabilizer comprising a rotor mounted on one central pivot so as to precess freely in two dimensions, and at the same time emit electromagnetic waves. An object of the present invention is to provide an automatic tracking device for tracking a target.

Another object of the invention is to provide a radiation-responsive automatic tracking device that simultaneously tracks a target and measures the angular difference between the line of sight and the longitudinal axis of the device.

Yet another object of the invention is to provide an electrical device for measuring the precessed portion of the gyroscopic axis for use in controlling the course of the moving object with respect to a line of sight from the moving object to the target. It is an object of the present invention to provide a target pursuit device such as the above object in which a magnet is combined.

Hereinafter, the present invention will be described in detail with reference to the drawings.

First, refer to FIG.

This figure is a schematic diagram of a portion of a goal pursuit device to most simply illustrate the principles of the invention.

Although the various parts are shown in their relative positions, some of the support structures are not shown to more easily illustrate the operating parts of the device.

10 indicates the warhead of the missile. The forward section of the warhead is transparent, allowing the movable optics of the target pursuit device to scan the target.

Gyro rotor 11 resides within a round air manifold 12.

The gyro rotor itself is driven by air discharged from a jet 13 shown in FIG.

A reflecting mirror 14 is attached to the rotor 11.

This reflecting mirror C1 is mounted at a small angle of, for example, 20,000 degrees with respect to the gyro axis.

The gyro rotor, magnets and reflector (go) form the movable optical part of the head of the target tracking device.

17 (I will show you my goal.

A source of radiation, such as light or heat or infrared radiation, such as the exhaust conduit of this target c1 jet.

18 is a photocell or other radiation response device that receives the target signal.

Referring now to Figure 1.2.3, 19 indicates a precession coil.

This coil is connected to the gyro frame 16 by the support 24.
and surrounds the rotating magnet 22.

20 is a center hole for the rotor 11 and engages with the center pivot 21.

This pivot (coinciding with the rotor axis) allows the rotor to freely rotate and precess with two degrees of freedom.

Hole 20 and pivot 21 are shown for illustrative purposes only; in practice, for example, a universal bearing or small gimbal could be used as shown in FIG.

The air manifold 12 has three internal jets 13 arranged at an angle as shown to blow pressurized air or gas inwardly against the scallop 26 of the rotor 11. , the rotor 11 is rotated at high speed.

The rotor 11 holds permanent magnets 22 that rotate together with the rotor.

Hole 20 is formed within magnet 22 as shown.

The rotor 11 has a suspension skirt 25.

An annular space is formed between this skirt and the magnet 22.

A fixed precession coil 19c1 solenoid coil is wound within this space and is connected to the frame 1 by a support 24.
6 to allow the rotor to freely tilt at a sufficient angle.

A 41 pick-off coil 23 is provided just below the skirt 25.

These coils are used to measure the tilt of the gyro rotor by changing its inductance.

The skirt 25 provides a return path for the magnetic flux of the permanent magnet 22,
The inductance of the coil 23 is determined by the distance between the skirt 25 and the pickoff coil 23.

These pickoff coils consist of two windings connected in series, with a plurality of pickoff coils provided in each quadrant of the rotor.

For ease of illustration, pickoff coils 23 (also shown for only a single precession plane) are attached to the gyro support frame 16.

The pickoff coil 23 detects the inclination of the rotor 11.
This is an example of an electrical device that detects the tilt of the rotor without actually physically contacting the rotor.

These coils control a servo mechanism as shown in FIGS.

This servomechanism can be used, for example, to adjust the missile's control wings to guide the missile along a course to a target.

Next, refer to FIG.

This view (view of the gorotor 11, with a permanent magnet 2 with a central hole 20 for mounting the rotor 11 on its central pivot)
2 is shown.

The pivot point is located near the center of gravity of the rotor.

Scallops 26 are formed around the rotor, and air jets are blown onto these scallops to rotate the rotor.

Refer now to FIG.

This figure is another view of the rotor 11 including the reflector 14.

As described above, the reflecting mirror 14 can be mounted at an angle of, for example, 20,000 degrees with respect to the rotor axis.

Therefore, the optical axis of the reflector 14 also forms the same angle with respect to the gyro axis, and as the rotor 11 rotates, the reflected image of the target moves in a circular path.

As shown in FIG. 1, a central pivot 21 of the rotor is seismically mounted to the frame 16 to damp vibrations.

Next, refer to FIG.

This figure shows the circuit diagram of a precession amplifier.

The amplifier Ct amplifies the photocell signal and supplies it to the precession coil 19.

By appropriately relating the tilt of the reflector 14 to the magnetic poles of the permanent magnet 22, a signal generated when the gyro axis or the line of sight from the target pursuit device to the target is not aligned is applied to the coil 19, and the magnetic field of the coil is A magnetic field can be generated when the magnetic poles of the magnet are arranged such that the interaction between the magnet and the magnet provides a torque that precesses the gyro in an orientation that brings the gyro axis into line of sight.

However, in order to avoid the need to physically determine the angle of the reflector with respect to the magnetic poles with an accurate inclination during the manufacture of the gyro rotor, the phase angle of the output of the precession amplifier shown in Fig. Precession coil 19 The phase can be shifted by the amount necessary to cause current to flow through the phase.

In the case of motion, an inaccurate phase shift causes the gyro to correct the aiming error by spirally moving to a new position, whereas a correct phase shift causes the gyro to correct the aiming error when it moves to a new position by precessing in a straight line. Phase shift adjustment is shown.

The precession amplifier includes a conventional power supply 35.

The power supply includes a transformer 36 and a full wave rectifier 37, the transformer having a primary winding and a secondary winding.

A smoothing circuit 39 is combined with the power supply 35 .

Potentiometer 40 is supplied with smoothed direct current.

Potentiometer 40 powers a phase shifting transformer 42 .

The primary side of the transformer 42 is inserted into the plate circuit of the amplifier tube 44.

A photocell 18 is connected to the grid circuit of the amplifier tube 46 .

The amplifier tube 46 is a pentode.

Input circuit 61 of amplifier tube 46 includes a filter circuit 41 for limiting the frequency range sensitive to the device and photocell 18 .

The amplifier 46 is connected to the grid of the HIE amplifier tubes 44 .

Amplifying tube 44 controls the primary side of transformer 42 .

The secondary side of transformer 42 is connected to a conventional phase shifting network 50.

This network consists of a center-tapped resistor 48 and a variable resistor 3
Contains 0.

Resistor 4B? :I is connected between the terminals of the secondary winding of the lance 42, and the center tap is grounded.

By adjusting the variable resistor 30, the phase of the transmitted signal pulse can be adjusted.

Phase network 50 is connected to phase inversion tube 56 .

The plate of the phase inversion tube is a push-pull power amplifier circuit 62
connected to.

Circuit 62 includes push-pull connected amplifier tubes 57,58.

The power amplifier circuit 62 is connected to the primary side of the output transformer 68, and the secondary side 61 of this transformer is connected to the gyro precession coil 19.
connected to.

By adjusting the variable resistor 30, the phase of the pulse from the photocell 18 can be adjusted relative to the angular position of the north-south pole axis of the permanent magnet 22, thereby returning the gyro axis to the line of sight from the target seeker to the target. When aligning, the gyro is precessed in a straight line.

The pickoff coil 23rt-s is connected to a phase discriminator included in the amplification channel that controls the servo motor that adjusts the wings of the missile.

For example, a pitch motor and a yaw motor may be provided, each motor controlled by a pair of pickoff coils to control the pitch and yaw of the missile.

FIG. 7 is a diagram of a missile pursuit device showing various parts in blocks.

FIG. 8 is a circuit diagram of a phase-discriminating amplification channel connected to a pitch motor and a yaw motor.

In FIG. 8, phase discriminator channel l-4 numbers 70 and 71
Indicated by

These circuits include a Wheatstone bridge with a pickoff coil 23 in the branch.

Impedance of coil 23? ! Unbalance or unbalance the bridge.

In Fig. 8, the power supply 73 is an ordinary full-wave rectifier γ5 and a smoothing circuit 7.
Contains 6.

Oscillator 78 (of the conventional type including electrode tubes 80, 83 and cathode resistor 81) generates a frequency of 2000 Hz.

The feedback circuit is shown at 82, and the grid circuit is
Contains the parallel T-filter network 84 necessary to establish and maintain 000 Hz.

Oscillator 78 powers transformer 85 and
supplies power to the yaw bridge 71, pitch bridge 70, and transformer 98.

These bridges have pick-off coils in their branches and potentiometers 86.87.

These bridge Gt t-lance 90°91 primary 1
The transformers 90 and 91 are included in the channels used for the pitch motor 93 and the yaw motor 94, respectively.

These motors (single phase motors) have windings connected to a fixed phase motor amplifier 95 powered by a transformer 98.

Capacitor 118 is used to separate the current supplied from amplifier 95 through windings 120 and 121 from the current through windings 115 and 116 by 90 electrical degrees.

Amplifier 95 includes a tetrode 99.

Each servo motor channel includes an amplifier tube, such as amplifier tube 105, connected to the secondary side of transformer 90.

The amplifier tube 105 is fed back by a parallel T-shaped RC filter 108 tuned to 2000 Hz.

Frequencies that are widely separated from the frequencies of the precession coils are used in the servo loops to separate the servo loops.

The output of this circuit is further amplified by an amplifier 111 connected to one winding, such as winding 115 of pitch motor 93.

In the operation of one of the channels, if there is an unbalance between the pickoff coils 23, for example, the bridge circuit 70 will be unbalanced, and the primary side of the transformer 90 will have a phase difference depending on the direction of the unbalance. A current with flows.

As a result, a signal appears on channel 95.

This signal is amplified before winding 11 of pitch motor 93.
Added to 5.

As a result, this motor C1 is rotated in an appropriate direction to adjust the wings of the missile, thereby controlling the altitude of the missile.

Other channels 7L91゜104.107,113,1
16 similarly controls the yaw motor 94 to similarly control the heading of the missile.

From the above explanation, a signal is generated in the pickoff coil 23 according to the inclination of the gyro rotor 11, and the signal (
1 It is processed by the circuit shown in Figures 7 and 8 and used to control the wings of the missile, and guides the missile so that the missile's longitudinal axis and gyro axis almost coincide.

As a result, the missile flies on a tracking course to its target.

Next, the operation of the entire device will be explained.

The photocell 18 (1) is mounted on the longitudinal axis of the target pursuit device, and the gyro rotor 11 is connected to the jet 13 of the manifold 12.
It is rotated by a gas such as air released from the cylinder.

When the reflector 14 is rotated together with the rotor 11, the reflector 14 scans an area including the target 17.

The reflected target beam 41 appears on the surface of the photocell as a small spot of light moving on a circular path at the gyroscopic spin frequency.

No signal is generated by photocell 18 as long as the circular path along which the reflected target image moves surrounds the sensing area.

However, assuming that there is an angular difference between the line of sight from the target pursuer to the target and the gyro axis, the circular path along which the target's reflected beam moves will cross the detection area of the photocell, resulting in a spin frequency of the rotor 11. generates a frequency equal to

Due to the slight displacement of the path of the image of the target in the photocell 18 due to the error between the line of sight from the target pursuit device to the target and the gyro axis (i.e. the angular difference between the gyro axis and the line of sight) , the inner diameter of the circle formed by the rotating image is adjusted so that the detection area of the photocell touches the rotating image and generates a spin frequency signal.

The signal (l) is amplified by the precession amplifier and then sent to the precession coil l.
This coil generates a magnetic field.

This magnetic field interacts with the magnetic field of the permanent magnet held in the gyro rotor.

This signal from the photocell is in the form of a pulse, the time of occurrence or phase of which varies with the direction of the error between the gyro axis and the line of sight to the target.

The magnetic poles of the permanent magnet held by the gyro have a certain orientation with respect to the maximum tilt position of the reflector.

Therefore, the time at which the amplitude of the signal impulse from the photocell 18 is at its maximum, and therefore the time at which the magnetic field strength of the precession coil 19 is at its maximum (1, the generated torque causes the gyro to precess and its axis This is the time when the permanent magnet is in a position to align the line of sight to the target.

In other words, a precession acting on a permanent magnet mounted on the gyro rotor and energized according to a single channel signal indicating a pulse at a given time during each 360 degree rotation of the gyro rotor. The coil operates to precess the gyro in a certain orientation relative to the initial direction of the spin axis.

The direction corresponds to a particular periodic time at which the pulse is generated.

In other words, the rotating magnets on the rotor establish a first magnetizing force vector of fixed magnitude that can rotate about the spin axis of the gyro at a frequency corresponding to the rotational speed of the gyro rotor.

Precession coil (1,
A second magnetization force vector is generated in the direction of the missile axis.

The magnitude of this vector can vary according to the displacement of the radiation source (target) with respect to the gyro spin axis and is in phase with the polar angular position of the radiation source with respect to the first vector generated by the permanent magnet.

When a current flows through the precession coil, a variable magnetic field is generated at the same frequency as the rotational frequency of the gyro rotor.

In this way, this device? The gyro axes are precessed in space as necessary so that one target is constantly tracked and the gyro axes always point to the target.

The direction of this precession ('i) is determined only by the relative positions of the target, the reflector, and the magnets and is therefore within the limits of the freedom of the gyro rotor 11 the direction of the roll of the missile ('i
You can see that they are independent.

FIG. 9 shows a modification of FIG. 1 in which the head of the target pursuit device holds the target visible when the missile is oscillating.

Within the limits of the gyro rotor's freedom, it is independent of the missile's directional roll, pitch or yaw.

FIG. 10 details the embodiment shown in FIG. 9, in which the detection cell 117, precession coil 119, and pickoff coil 123 are connected to a phase discrimination and amplification circuit that controls the missile.

In the above description, the angle of inclination of the reflector (1) is based on the diameter of the reflector representing the position of maximum inclination.

Of course, physically this particular diameter has a fixed position with respect to the north and south pole axes of the magnet 22.

The variable amount of phase shift provided in the precession amplifier eliminates the need to physically adjust the angle between the reflector and the north-south pole axis of the permanent magnet.

The phase adjustment c1 is performed by the circuit components of the precession amplifier between the two amplification stages.

This component is a conventional phase shifting circuit manually adjusted by a variable resistor as shown at 30 in FIG.

Therefore, by adjusting this resistance, the relationship ('
! Adjusted to obtain the desired precession.

The precession of the gyro in the proper orientation to align the gyro axis with the line of sight to the target is based on the gyro principle: rotation about the first axis; torque applied about the second axis is the third axis. This can be understood from the principle that the gyro precesses around , and all axes are perpendicular to each other.

Therefore, with the north-south axis at a given position, the torque applied from the signal at the appropriate phase position will precess in the appropriate direction, allowing the gyro axis to perform the desired movement.

Pickoff coil 23 (used to measure tilt, which represents the amount the J missile has moved out of alignment with the gyro axis).

These coils ζ1 are mounted directly under the rotor skirt as described above, and position signals are extracted from them by varying their inductance depending on their proximity to the rotor skirt.

These coils are connected to provide a signal to the c1 amplifier (FIG. 8).

These amplifiers are connected to the servo motors 93 .
94 and move the wings to guide the missile to the target.

From the foregoing description, it can be seen that the present invention provides a relatively simple and durable weapon that can be used to attack targets emitting radiation.
It can operate to "lock on" and after being fired (1
Continuously track the target along the tracking course until it catches up and destroys the target.

Next, refer to FIG.

This figure shows another embodiment of the invention calculated to realize certain advantages.

In the first embodiment of the present invention, the gyro C1 target pursuit device is used to align the longitudinal axis of the target pursuit device with the line of sight for the target, which is a reference line, and maintain that state, and by causing the missile to follow the gyro, the tracking course is Move along this reference line.

In the embodiment shown in FIG. 1, the photosensitive device is mounted within the transparent warhead 10 of the missile.

A preferred embodiment of the invention includes the arrangement of the components, including the optical device and photocell assembly, in such a way that the photocell is mounted on a central bearing on which the gyro rotor rotates and precesses.

In FIG. 9, a gyro rotor 100 has a permanent magnet 101 and a skirt 102 providing a return magnetic path, similar to the first embodiment.

Base 12 by precession coil 119c1 support 124
2.

The fixed solid bearing support N14tt for the gyro rotor has a spherical shape, and is mounted so that the rotor (1) can move universally around this support, and the center hole of the rotor is located between the center hole and the spherical support 114. The ball bearing is engaged with the ball bearing.

A fixed support 1141'i is attached to the soil of the base 122.

The rotor 61 holds a tilted concave mirror, and the support rod 109 is attached to a plane or convex mirror 110 on the rotor mounting axis.

An radiant energy detection element 117, such as a lead sulfide cell, is mounted on the support 114 on the rotation axis of the gyro.

However, element 117 is mounted on a fixed support and does not move with the gyro.

Reflector assembly? ! rotates with the gyro rotor,
Move with it.

For example, infrared rays from the target pass through the transparent warhead 120 on the head of the target pursuit device, and pass through the concave mirror 103 and the plane mirror 110.
reflected from.

These reflector assemblies of the gyro are aligned in the line of sight from the target seeker to the target, and the reflected image of the target surrounds element 117.

When the gyro axis deviates from the direction toward the target, the radiation reflected from the target is detected by the radiation energy detection element 117.
to generate a signal.

This signal is applied to a precession amplifier, amplified, and applied to a precession coil 119 to precess the gyro axis in a straight line.

Therefore, the gyro axis is aligned again with the line to the target.

If the gyro axis does not align with the missile's longitudinal axis,
The gyro rotor is tilted.

The magnitude of this slope is detected by the first pick-off coil 123.

These coils 110 are installed behind the tascart,
The magnitude of the inclination of the gyro rotor is detected based on the change in inductance due to the change in distance to the skirt.

The pickoff coil is connected to an amplifier where the rotor position signal is amplified and used to control a servo motor that guides the missile so that the missile's longitudinal axis and gyro axis are aligned and the missile follows a tracking course to the target. be done.

[Brief explanation of drawings]

FIG. 1 is a schematic longitudinal sectional view of the front of a target seeker assembly of the present invention in relation to the front of an air-to-air missile;
Figure 2 is a cross-sectional view taken along line 2-2 in Figure 1;
3 is a perspective view of a portion of the assembly; FIG. 4 is a perspective view of the gyro rotor and permanent magnets; FIG. 5 is a perspective view of the gyro rotor including reflectors; and FIG. 6 is a photocell and precession amplifier circuit. 7 is a diagram of the missile showing the various parts of the guidance system in blocks, FIG. 8 is a circuit diagram of the phase discriminator and amplifier that control the servo motor of the missile, and FIG. 9 is a diagram of another system according to the present invention. A schematic diagram of an embodiment, FIG. 10, is a diagram similar to FIG. 9 in combination with FIG. 7 showing another embodiment of the invention. 10 is the warhead of the missile, 11,100 is the gyro rotor, 14, 103, 110 is the reflector, 17 is the target, 18 is the photocell, 19, 119 is the precession coil, 22, 101 is the permanent magnet, 23, 123 is the big off It is a coil.

Claims (1)

[Scope of Claims] 1. A device for tracking a radiation source, comprising: (a) a free spin device having a spin axis and including a permanent magnet, wherein the permanent magnet (1) has a polar axis that is connected to the spin axis; (b) having a reflecting mirror mounted eccentrically with respect to the spin device, carried by the spin device, and rotatable together with the spin device; a scanning device; (c) responsive to said scanning device, when a line of sight from said spin device to said radiation source deviates from coincidence with said spin axis; , the scanning device configured to generate a single signal representative of the direction of the permanent magnet, the scanning device configured to adjust the time phase of the signal for eccentricity of the reflector with respect to the polar axis of the permanent magnet. and) responsive to the signal, applying a single torque to the spin device to precess the spin device to bring the spin axis into alignment with the biased line of sight. A tracking device consisting of a device.