JPS59217176A - Hybrid position measuring apparatus - Google Patents

Abstract

PURPOSE:To make it possible to measure a flight position with high accuracy regardless of a weather condition by making it possible to determine the posture and motion informations of a flight body, by using an automatic radio wave tracking function, an automatic infrared ray tracking function and a tracking error correcting function to the flight body in combination. CONSTITUTION:The automatic tracking track locus of a flight body 1,000 is calculated by using a tracking antenna 11, a transmitter receiver circuit 2 and a position calculating part 6 to said flight body 1,000 while infrared rays emitted by the flight body 1,000 are detected by an infrared tracking sensor 12 arranged so as to hold a light receiving axis in parallel relation to the transmitting receiving direction of the radio wave from the antenna 11 to perform automatic tracking. In addition, the difference of the tracking angle information obtained from the optical image of the flight body 1,000 caught by an image tracking camera 13 arranged so as to hold the light receiving axis in parallel relation to the transmitting and receiving direction of the radio wave by the antenna 11 and the tracking angle information by automatic radio wave tracking and automatic infrared ray tracking is imparted to each tracking means as tracking angle error information to perform the automatic tracking of the flight body 1,000.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a hybrid position measuring device, in particular a radio wave automatic tracking means for automatically determining the flight trajectory of a flying object equipped with a radar transponder through transmission and reception of radio waves with the radar transponder, and There is an infrared automatic tracking means that automatically tracks the flying object while detecting infrared rays emitted by the flying object, and an ITV (industrial-Te
tracking angle error correction means that detects the tracking angle error caused by the above-mentioned radio wave automatic tracking means and infrared automatic tracking means using an optical image obtained by tracking a flying object with an optical imaging system such as a camera, and corrects the error amount. This invention relates to a hybrid position measuring device that tracks a flying object and measures its position by combining the following methods.

2. Description of the Related Art Projections that fly along predetermined flight paths in space are well known, and position measuring devices for tracking flight trajectories and measuring their positions are also well known.

Conventionally, such a position measuring device has been used to track a flying object using a tracking device as described below, and to determine the trajectory of the flying object, and thus the position of the flying object at each measurement time.

The first one is called an 11-wave automatic tracking device, which automatically tracks the flight trajectory of a flying object while transmitting and receiving radio waves to and from a radar transponder mounted on the flying object VC.

The second type is an automatic infrared tracking device, which uses an infrared sensor to detect the infrared rays emitted by a flying object, that is, the infrared rays mainly generated by the combustion of the propellant of the flying object, and automatically tracks the flying object. It is.

Thirdly, the optical image obtained by tracking the flying object with an optical sensor such as an ITV camera is transmitted to a CRT (Cathode).
This is a so-called image tracking device that displays the image as an image on a video display such as a Ray Tube. The deviation of the obtained optical image of the flying object from the center of the screen is obtained as a tracking angle error, and the flying object can be tracked while electrically correcting this tracking angle error along with visual separation, Because of this percentage characteristic, it is also called a tracking error correction device.

However, each of the three tracking devices described above has drawbacks as shown below.

In other words, although the first type of automatic radio tracking device can send and receive radio waves to and from a radar transponder to obtain information on the direction, altitude, and distance to determine the flight trajectory of a flying object, it cannot detect the attitude, movement, etc. of the flying object. In addition to not being able to obtain visual information regarding flight trajectories, tracking errors become particularly large at short distances where the above-mentioned information on the flight trajectory changes rapidly over time.

Part 2, the infrared automatic tracking device, has B book 61! It passively receives infrared rays emitted by the body using a sensor.
Although it is possible to V-hook a flying object while obtaining Ei trace angle information, in order to obtain accurate distance information, it is assumed that tracking is performed using at least two infrared tracking devices placed at two points at known distances. The drawback is that it requires large-scale equipment and personnel deployment, and is subject to basic restrictions due to infrared detection, such as weather conditions.

Flight tracking L using the 7-3 image tracking device; it is possible to know the error as well as the tracking angle.

Since it is a passive detection of a flying object using an optical sensor, it is necessary to track the entire flying object from two points for the same reason as the infrared-th tracking device in Part 2, and basic restrictions due to weather cannot be avoided. There is a drawback.

The purpose of the present invention is to eliminate the above-mentioned drawbacks, and to provide an automatic radio tracking device, an automatic extra line tracking device, and a tracking error correction i.
tl! ! ! By using one set of each r simultaneously as a combined hybrid arrangement and providing means for tracking the flying object through the sensors of each of these devices, each tracking in the same direction, information on the attitude and movement of the flying object can be grasped. A hybrid position measuring device (i7) that can measure the flight position of a flying object with high accuracy, without being affected by weather conditions, and by suppressing the increase in tracking errors at short distances.
It's about pretending.

The device of the present invention is a position measuring device that tracks a flying object carrying a radar transponder and measures its position. detecting infrared rays emitted by the flying object through an automatic radio wave tracking means for tracking the flying object and determining its flight trajectory, and an infrared sensor arranged so that the receiving axis is held parallel to the direction of transmission and reception of radio waves by the tracking antenna; An optical image of the M flying object captured through an infrared automatic tracking means that automatically tracks the flying object, and an optical system arranged so as to hold a light receiving axis parallel to a direction in which radio waves are transmitted and received by the tracking antenna. Tracking angle information obtained from and front bt''.

Tracking angle error correction means for automatically tracking the flying object while providing the difference between the tracking angle information by the automatic radio tracking means and the automatic infrared tracking means as tracking angle error information to the automatic radio tracking means and the automatic infrared tracking means. It is composed of:

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

FIG. 1 is a block diagram showing one embodiment of the present invention.

The hybrid position measuring device of the embodiment shown in FIG.
, a tracking angle error output circuit 4, and a tracking path 9. In addition, a radar transponder 1001 is shown in FIG.
A flying object 1000 including 'f' is also shown.

The sensor mount 1 includes a tracking antenna 11 that transmits and receives radio waves, and an infrared tracking camera 14 that detects infrared rays.
and an image tracking camera 13 using an ITV camera that optically captures a flying object are arranged in parallel so as to maintain the same direction, so that the tracking antenna I
The flying object is tracked in such a way that the direction of transmission and reception of radio waves by the IK and the direction of infrared and optical reception of the flying object by the infrared tracking camera 12 and the image tracking camera 13 always match.

In addition to the three types of sensors mentioned above, the mount 1 also has a sensor that corresponds to the tracking angle Ju information acquired through these sensors.
A servo drive mechanism 15 that provides movement for automatically tracking a flying object, a manual controller 14 that provides input for manually operating the mount 1, and a valley sensor that corresponds to the movement of the mount 1. A common azimuth angle and vertical angle tracking. Optical encoder 16 that optically obtains angle information
etc. are arranged.

Now, regarding the radio wave automatic tracking operation, a transmission signal such as a modulated wave or a pulse wave, which is a carrier wave of a predetermined frequency subjected to frequency modulation or phase modulation from the transmitter/receiver circuit 2, or a phase change tl' in this embodiment: The carrier wave is sent out via the input/output line 201 to the tracking antenna 11 using a horn antenna with a four-segment configuration, thereby radiating a transmission radio wave a toward the flying object.

The position of the 5iG projectile at the time of launch and the route it is scheduled to travel are known in advance, and the capture of the projectile by radio waves in the initial state of launch can be easily carried out regardless of whether it is in automatic tracking mode or manual tracking mode.

In the automatic tracking mode, the transmitted radio wave a emitted from the tracking antenna 11 is captured by the antenna of the flying object 1000, and is transmitted to the radar transponder 1001 mounted on the flying object 1000.
From the tracking antenna 11. as a response radio wave a'. The signal is input to the transmitter/receiver circuit 2 via the input/output line 201.

The transmitted radio wave a and the response radio wave a' have a phase difference corresponding to the distance from the tracking antenna 11 to the flying object 1000. Based on this phase difference, the transmitting/receiving circuit 2 generates distance information data, which is sent via the output line 202. , is sent to a position calculation processing section 6, which will be described later.

The response ``turret wave a'' inputted via the tracking antenna 11 also reflects the response of the flying object 100o given by the phase difference of the carrier wave of the response radio wave a' inputted to each divided section of the four-split horn antenna constituting this tracking antenna. It has azimuth angle and vertical angle information,
These are sent from the transmitting/receiving circuit 2 as radio wave tracking angle data to the tracking mode switching circuit 5 via an output line 203.

The tracking mode switching circuit 5 receives a tracking mode switching signal sent from a system console (not shown) or the like via the position division processing unit 6 and the output line 601, and receives the tracking mode switching signal via the output line 203.
'Radio wave tracking angle data input via output line 5
01 to the servo drive mechanism 15, and the sensor mount 1 is operated to follow the movement of the flying object 1000, thereby performing automatic tracking using radio waves.

FIG. 2 shows the radar transponder 1001 in FIG.
FIG. 2 is a block diagram showing the 0 part in detail.

A radar transbonder 1001 mounted inside the flying object 1000 includes a diplexer 2001 and a receiver 2002.
, BPF (Band pass Filter) 200
3 and a transmitter 2004.

The transmitted radio wave a radiated from the tracking antenna 11 is captured by the transmitting/receiving antenna 1002 of the flying object 1000, inputted to the diplexer 2001 which is a transmitting/receiving switching circuit via the input/output line 1002-1, and outputted to the output line 2001-1.
1'i to the receiver 2002, and after being amplified to a predetermined level, the output line 2002-1. BPF2003. that performs desired band filtering. Output line 2
003-1 to transmitter 2004 via transmitter 2
The carrier wave outputted by 004 is phase-shifted to a predetermined transmission level, and the output line 2004-1. It functions as a radar transponder by supplying it to the transmitting/receiving antenna 1002 via the diplexer 2001 and radiating it as a response radio wave a'.

Such radar transponders usually have small dimensions and, combined with their shape, have low reflectivity as a reflector, making it extremely difficult to track them using only reflected waves, especially at long distances such as several tens of kilometers or more. It is often used to compensate for this difficulty.

Now, automatic infrared tracking is executed as follows.

The infrared &! on the senna mount 1 is arranged parallel to the direction of transmission and reception of radio waves by the tracking antenna 11, that is, the direction of the central axis of the tracking antenna. The tracking camera 12 captures the infrared rays emitted by the flying object with a built-in infrared sensor and outputs the infrared tracking angle via the output line 121, either in response to the radio wave automatic tracking movement carried out via the tracking antenna 11f or independently. It is sent to the output circuit 3.

The infrared tracking angle output circuit 3 serves as a circuit that displays or outputs the infrared input of the flying object acquired by the infrared #"4' i-track camera 12 as a brightness variation W1 signal on the rask using the television scanning method. Displays or outputs infrared input using a rectangular coordinate system whose origin is the receiving axis of the infrared tracking camera set in advance on the rask, and also displays or outputs the azimuth and vertical angle information of the flying object corresponding to the coordinates as infrared tracking angle data. It is sent to the tracking mode switching circuit 5 via the output line 301.The tracking mode switching circuit 5
A tracking mode switching signal received via output line 601 switches it to be sent via output line 501 to servo drive rock 15, thus performing an infrared automatic tracking operation.

The image tracking operation performed via the image tracking camera 13, that is, the tracking angle correction operation, is performed as follows.

The image tracking camera 13, which is arranged on the sensor mount 1 with the center axis direction of the trunking antenna 11 and the infrared tracking camera 12 parallel to the direction of the light receiving axis, is a normal I'
It has almost the same function as the l'V camera, and optically captures the image Cft of the flying object 1000 via the image tracking camera 13, and sends the image output to the output line 13.
1 to the tracking angle error output circuit 4 as well as to the image tracking monitor circuit 7VC.

The tracking angle error output circuit 4 is an A/D converter.

The image tracking camera 13 has an interface circuit, etc.
The video signal sent out from the controller, that is, the deflection signal corresponding to the horizontal and vertical scanning of the field of view to capture the flying object, the brightness signal of the flying object to be displayed or output based on this deflection signal, the video synchronization signal, etc. are all input. body 1000
After separating the signals, the identification signal is outputted via the gt interface circuit.

The identification signal of the flying object 1000 inputted to the tracking angle error output circuit 4 clearly has coordinate information indicated by rectangular coordinates with the origin of the light receiving axis of the image tracking camera 13, and the bucket and vertical axis of these rectangular coordinates are respectively Image tracking camera 1
This corresponds to the deviation in the azimuth angle and the vertical direction angle of the flying object 1000 which deviates from the light reception #llll1 of No. 3.

This deviation is between the transmitting/receiving direction of the tracking antenna 11 and the light receiving l-axis direction of the infrared tracking camera 12.
It is also a deviation from the direction of 000, and this is the
is a tracking error when tracking the flying object 1000 by radio automatic tracking or infrared automatic tracking, and is caused by a tracking delay of the servo drive mechanism 15.

The tracking angle error output circuit 4 outputs the flying object 1000 imaged by the optical system of the image tracking camera 13 in this way.
The optical system 401 outputs the deviation from the light receiving axis of the optical system, that is, the tracking angle error information, and displays this on the output line 401 as a video signal from the camera 13 (CRT):.

The image tracking monitor 7 also displays a rectangular coordinate axis with the origin at the light reception [tQll] of the image tracking camera 13,
An optical image of 000 will be displayed on this rectangular coordinate system at a position corresponding to the tracking error of the servo drive machine +l1t15.

By bringing the light ben 8 into contact with such an image and identifying the flying object 1000, tracking error azimuth angle information and vertical direction angle information for the flying object 1000 are sent to the position calculation processing unit 6 via the output line 801. This information is based on information about the flying object 100 in a state where the tracking angular velocity with respect to the flying object 1000 is large, and therefore the tracking angle error is large.
It is used as a zero identification and tracking error correction signal.

Now, the optical encoder 16 attached to the sensor mount 1 can control the tracking angle of the azimuth and vertical angle of the sensor mount 1 corresponding to the tracking operation of the servo drive mechanism 15 with extremely high commercial accuracy within 1/100 degree. It can be obtained as a digital quantity, and a transparent disk is divided into multiple concentric circles, and each section has a number of opaque pieces corresponding to the number of angle display bits, from the center part to each peripheral section. A wire with wires is attached to the movable part of the sensor mount 1, and it is irradiated vertically with a light source attached to the sensor mount 1 and detected by a sensor such as a phototransistor placed behind the disk. In principle, it converts analog quantities into digital quantities. It is similar to the well-known code board.

In the embodiment of FIG. 1, the angle is read out in 16 bits, thus dividing the disk into 16 concentric sections, 1.2, 4, 8, . . . from the center. A number of opaque lines are provided radially in each angular direction, and the dark state caused by these opaque lines is detected by a phototransistor placed behind each concentric circle section, and the number of opaque lines is 1/216. The angle is detected with precision.

The azimuth angle data and the vertical direction angle data obtained by using the optical encoder having such a configuration to detect the azimuth angle and the vertical direction angle of the sensor mount 1 are sent as tracking angle data to the interface circuit 9 via the output line 901. Further, the data is sent to the position calculation processing section 6 via the interface circuit 9.

The position calculation processing unit 6 receives distance data from the transmitting/receiving circuit 2, tracking angle data via the interface circuit 9, tracking angle error data from the tracking angle error output circuit 4, and further receives flight data from the image tracking monitor circuit 7 via the light beam 8ft. Receive tracking angle error data of body 1ooo.

In this embodiment, when the temporal change in the tracking angle with respect to the flying object 1000 is large and the tracking angle error becomes large, the tracking angle error data is inputted by the image tracking monitor circuit 7 and the light ben 8, and the temporal change of this data is inputted. It is controlled by the position calculation processing section 6 (.C) to receive tracking angle error data from the tracking angle error output circuit 4 when the ratio becomes less than a preset value.

The position meter q and the processing unit 6 calculate the tracking angle data in which the tracking error is corrected based on the input tracking angle data and the tracking angle error data, and calculate the correct azimuth and vertical direction angle data i regarding the flying object 1000. The three-dimensional position of the flying object 1ooo in the sky is measured using distance data input separately, and this is used as position data to output line 6.
01'e to a display circuit such as a CRT, printer, or X-Y plotter, or to a communications terminal for further transmission to other equipment.

In addition, the manual controller 1 provided on the sensor mount 1
4 gives a tracking operation to the sensor mount IK flying object 1000 manually, and the azimuth signal and vertical direction angle signal generated by this operation are output line 1.
41. It is added to the servo drive mechanism 15 via the tracking mode switching circuit 5 and the output line 501 so that the sensor mount can be manually tracked in response to the flight of the flying object 1000.

The radio wave automatic tracking performed through the tracking antenna 11, the infrared automatic tracking performed through the infrared tracking camera 12, and the tracking angle error correction performed through the image tracking camera 13 are as described above. is operated in a complex manner by combining the characteristics of each as follows.

In other words, although infrared automatic tracking has a shorter effective range than radio waves, it inherently has higher detection accuracy and therefore detects more than 1,000 flying objects.
After launching, especially when the position information changes greatly over time, it is usually used in combination with an optical telephoto lens etc. installed on the sensor mount, and distance data is obtained by T-wave tracking operation and furthermore, tracking angle error is detected. Highly viscous position information is obtained by obtaining the correct tracking angle through correction operations.

In addition, automatic radio tracking is generally used for tracking angle error correction when the number of flying objects changes relatively slowly, or when the flying object cannot be seen due to gas in the flight space. .

In this way, the position of the flying object 1000 is used by the automatic radio tracking means and the automatic infrared tracking means, either alone or in combination, in accordance with the flight state, and the tracking angle is further corrected by the tracking angle error correction means. Extremely accurate position information can be obtained at all times.

The present invention can be used as an automatic radio tracking means and an automatic infrared tracking means, each of which is normally used independently, in a position measuring device K that tracks a flying object equipped with a transponder and measures its position, and as an image i14 trace means. The basic feature is that the position of a flying object can be measured by a hybrid position measuring device that has a hybrid configuration so that it can be used in combination with a tracking angle error correction means. , Box 1 merely shows one basic example as an embodiment of the present invention, and various variations of this sequence are possible.

For example, in the embodiment of FIG.
．． The tracking angle error correction means for the flying object obtained by the image tracking monitor circuit 7 and the light pen 8 is used when the angular velocity of the azimuth and vertical angle relative to the flying object is large, but this will depend on the type of flying object and its operation. It is clear that this may be implemented arbitrarily depending on the purpose of tracking, etc.

Also, an optical encoder 1 placed on the sensor mount 1
6 may be replaced with another angle detector having the same function as this, and the interface circuit and interface circuit 9 of the tracking angle wakizashi output circuit 4 are included in the position calculation processing unit 6, and the fc It is obvious that it would be easy to implement the following, and all of the above can be easily implemented without detracting from the gist of the present invention.

As explained above, according to the present invention, a position measuring device that tracks a flying object equipped with a radar transponder and determines its position includes automatic radio tracking means, automatic infrared tracking means, and tracking angle error correction means using image tracking. In combination, by tracking the flying object and measuring its position, the accuracy of single position measurement can be greatly improved, and the motion and posture state of the flying object can be controlled in this position measurement, and the necessary equipment, This has the effect of realizing an easy-to-operate hybrid position measuring device that can significantly reduce the number of personnel.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing one embodiment of the present invention, and FIG. 2 is a block diagram showing details of the rake transponder in the embodiment of FIG. 1...Sensor mount, 2...Transmission/reception circuit, 3.Old...Infrared tracking angle output circuit, 4...
The tracking angle error output circuit, the tracking mode switching circuit, and the 6th position are also Δ. Calculation processing unit, 7. River/image tracking monitor circuit, 8.
...Light pen, 11...Group tracking antenna, 12...Infrared tracking camera, 13...
...Image tracking camera, 14...Manual controller, 15...Servo drive mechanism%
16... River optical encoder, 1000...
... Flight s, 1001... River, Radar transponder, 1002... Mark, Transmitting/receiving antenna, 2001...
Diplexer, 2002...Receiver, 20
03...B Pli'% 2004...
...Transmitter.

Claims (1)

[Claims] A position measuring device that tracks a flying object equipped with a radar transponder and measures its position, transmits and receives radio waves to and from the radar transponder via a tracking antenna to automatically track the flying object and determine its flight trajectory. automatic radio wave tracking means, and an infrared sensor arranged so as to hold the receiving axis parallel to the direction of transmission and reception of radio waves by the tracking antenna, detect the infrared rays emitted by the flying object, and automatically track the flying object. an infrared automatic tracking means for tracking the flying object; and tracking angle information obtained from an optical image of the flying object captured through an optical system arranged so that the receiving axis is held parallel to the direction of transmission and reception of radio waves by the tracking antenna. Tracking angle error correction for automatically tracking the flying object while providing the difference between tracking angle information by the radio wave automatic tracking means and the infrared automatic tracking means as tracking angle error information to the radio wave automatic tracking means and the infrared automatic tracking means. A hybrid position measuring device comprising means for tracking the flying object and measuring its position.