JPS5952200A - Missile guidance system - 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 flying object guidance method for guiding a flying object toward a target or toward an expected meeting point with the target.

There is a conventional missile guidance system as shown in Figure 1. (1) by the detector.

(2) is the visual field where the target can be recognized;
(3) is a target detector mounted on a flying vehicle.

(4) is the aircraft attitude angle detector, (5) is the amplification and phase compensator, (6) is the signal processor, (7) is the autopilot system, and (8) is the aircraft steering system. be.

In the projectile having the above configuration, when the target (2) exists in the field of view area (1) where the target can be recognized, the target detector (3) detects the direction of the projectile and the target ( 2) Detection of mutual relative positions is first performed.

The attitude angle detector (4) detects the attitude angle or attitude angle change rate of the flying object, and performs spatial stabilization of the target signal, stabilization of the flying object, etc. In the target detector (3), a guidance signal is constructed by using the signal from the attitude angle detector (4).

The induced signal is input to an amplification and phase compensator (5) to reach the required level. Then, the signal processor (6) improves noise characteristics, removes high frequency components, etc., and generates a steering command signal. In the autopilot system (7), signals necessary for actual maneuvering are formed from the steering command signal and the signal detected from the attitude angle detector (4). When performing aerodynamic steering, the steering device (8) is connected to a driveable wing and generates a force for guiding the flying object in the direction of meeting the target (2). In the case where the attitude of the flying object is changed by changing the thrust direction, the steering device (8) corresponds to a thrust direction variable mechanism. In the case of a flying object using the flying object guidance method shown in the above configuration.

At the time of launch, the target (2) is already captured in the visual field (1) where the target can be recognized, and guidance is performed at the same time as launch, or after the required time has passed after the first launch from the target observation and estimation before the first launch. A projectile is launched in a direction such that the target (2) reaches the visual field fl) where the target can be recognized, thereby realizing the required command. By the way, in the conventional projectile guidance method, the search for the target (2) in the target recognition area (1) is performed using a gimbal in the case of a target detector (3) that is spatially stabilized with a two-axis gimbal. This is done by forcibly moving the central angle. However, the first
As shown in the figure, the target (2) is visible in the visual field (1) where the target can be recognized.
), the guidance signal will not be generated and the flying object will not be able to meet the target (2). In addition, with the strap-down method in which a target detection m5 (31) such as a camera is fixed to the body of the flying body rather than a two-axis J/PAL, target search is even more limited.

This invention eliminates the drawbacks of the conventional method, and detects the attitude of the flying object when the target is outside the recognition area of the relative position detector between the target and the flying object. By changing the actual recognition area [-7, this makes it easier to capture the target.

The drawings will be explained in detail below.

FIG. 2 shows the structure of a guidance type flying object according to the present invention. tl>~(8) is the same as in Figure 1, (
9) is a command signal generator for attitude angle control, +In) is an attitude angle command signal, (111 is an attitude angle command signal control signal, α
The side shows the enlarged target-recognizable visual field obtained by changing the attitude angle. If a flying object with such a configuration can recognize and capture a target in the process of moving straight after launching the projectile, then the movement will be the same as a normal flying object, and the posture will change. Angle command signal 0 [is not generated. However, after launching the projectile, the target (
2) does not exist in the recognizable area and you intend to fly, the signal processing unit (6) sends an attitude angle control command signal (
11) is generated, and then the attitude angle command signal 10) is output, the steering signal changes, and the attitude changes. Thereafter, when the target (2) enters the target recognition area due to the attitude change changing the target recognition area, the attitude angle control command signal uO is stopped and the attitude angle command signal:! [stopped and 9
Normal induction begins.

FIG. 3 shows the flight trajectory of the present invention in comparison with the conventional flight trajectory. 0 is a projectile that flies by the conventional guidance method, α4 is the trajectory of projectile Q31, α powder is a projectile that flies by the guidance method of this invention, and a19 is a projectile (the old one). The projectile when the attitude changes, αη is the projectile 0
51. Locus of αe.

0 represents the viewing angle α at which the projectile can recognize the target, α9 represents the attitude angle θ measured from the average traveling direction of the projectile, and (a) represents the expanded viewing angle β at which the target can be recognized according to the present invention. .

This figure shows a case where a sine wave is input as the attitude angle command signal. In this case, the viewing angle α at which the target can be recognized is
The relationship between θ8, the posture angle θ0, and the visible angle β of which the target can be recognized according to the present invention is β = θ + α, and the target recognition area is expanded.

Figures 4 and 5 show the target recognition area in the case of the conventional method and the target recognition area in the case of the present invention, and are compared by placing the flying object in Figure 8 at the same point. This is what I did. According to this invention. The expansion of the target recognition area is shown.

FIG. 6 shows the area where the target can be recognized, observed from the front of the flying object. (21) indicates an area where the target can be recognized. The motion of a flying body is a three-dimensional motion. Therefore, the directions orthogonal to the nine machine axes can be considered to be the pitch direction on the longitudinal toe pitch plane, and the yaw direction on the yaw plane orthogonal to the pitch plane and the machine axis. (2I) shows a case where the phases of attitude angle changes in the yaw plane and the pitch plane are shifted by 90°. Targets that were unrecognizable using conventional guidance methods (2
) is shown to be within the range where the target can be recognized.

Figure 7 shows that the area where target (2) can exist is the pinch plane,
Alternatively, only in the yaw plane, the figure shows a case where the target is sufficiently supported by the target-recognizable area unique to the flying object. (
22) shows the area where the target can be recognized when the attitude angle is changed only in the pitch plane, and (2) shows the area where the target can be recognized when the attitude angle is changed only in the yaw plane. There is.

FIG. 8 shows the attitude angle command signal. (24)
is the strength of the attitude angle command signal, (25) is the time axis, (2
6) is the y direction attitude angle command signal in Fig. 6, (to)
is the pitch direction attitude angle command signal in the case of the target recognizable area aa in FIG. shows.

In the same figure (a), the horizontal attitude angle command signal Q6)
, the phase of the pinch direction attitude angle command signal (2η) is .

Shifted by 90 degrees, the field of view performs a circular movement. Same figure (L
+) and (C), the posture angle command signals in one direction and in the pinch direction are respectively zero, and the posture changes in only one direction.

By the way, here we use the attitude angle command signal.

Although we have shown an example using a sine wave, this can be applied to any type of signal that can change its attitude over time.

As shown in FIG.
In order to forcibly change the posture angle of the body itself, 1. Even areas that cannot be recognized with normal guidance methods can be captured within the recognizable area, so there is a possibility of being able to assist the target and guide it to the target. increase

[Brief explanation of drawings]

FIG. 1 is a diagram showing the configuration of a flying object using a conventional guidance method, FIG. 2 is a diagram showing the configuration of a flying object using a guidance method according to the present invention, and FIG. 3 is a diagram showing the configuration of a flying object according to the present invention. Figure 4 is a diagram comparing the trajectory of the flight with the conventional trajectory. Figure 4 is a diagram showing the area where targets can be recognized when using the conventional guidance method.
The figure shows the area where the target can be recognized according to the present invention, FIGS. 6 and 7 are the areas where the target can be identified according to the invention, viewed from the top of the projectile, and FIG. 8 (a) (b)(
c) is a diagram showing an example of an attitude angle command signal according to the present invention. In the figure, (1) is the visual field where the target can be recognized by the projectile detector itself, (2) is the target, and (3) is the field of view where the target can be recognized by the projectile detector itself.
A target detector mounted on the object, (4) a spacecraft attitude detector, and (5) an amplification and phase compensator. (6) is the signal processor, (7) is the automatic pilot system, (8) is the flight control system, (9) is the command signal generator for attitude angle control, QO) is the attitude angle command signal, and aυ is the attitude Angle command signal control signal, α is the enlarged field of view where the target can be recognized, +131 is the flying object flying by the conventional guidance method, (1 → is the trajectory of the flying object (131), (1
One is a flying object using the guidance method of this invention (1e is a flying object! The flying object when the attitude of 151 changes,
α′O is the trajectory of the flying object n51tte, ogI is the viewing angle that allows target recognition, a value is the attitude angle θ measured from the average traveling direction of the flying object, and cA is the expanded visual field that allows target recognition according to this invention. angle, (2+1 is the viewing area. (221 is the viewing area when the attitude angle is changed only on the pitch plane, (C) is the viewing area when the attitude angle is changed only on the yaw plane, aa is the strength of the attitude angle command signal, (25+ is the time axis, (2e is the unidirectional attitude angle command signal in Fig. 6, (21 is the pitch direction command signal in Fig. 6, and C is the viewing area (in the case of 221) The pitch direction attitude angle command signal, c!0, shows the pitch direction attitude angle command signal in the case of visual field (2j). In the figure, the same or equivalent parts are indicated with the same reference numerals. Shin Kuzuno - @Figure 6 Figure 2 Figure 7 Figure 8

Claims (1)

[Claims] In a method of guiding a projectile flying toward a target or an expected meeting point with the target, means for detecting the relative positional relationship between the projectile and the target and means for commanding the attitude angle of the projectile. and a means for moving and maintaining the projectile in a desired direction and attitude, and if the target is not captured by the means for detecting the relative positional relationship between the projectile and the target, the attitude angle of the projectile is changed. A flying object-guiding system characterized in that the target is captured within a visual field where the target can be recognized by the detecting means by causing the target to be guided to the target.