JPS6211185A - Guide apparatus - Google Patents

Abstract

PURPOSE:To attain miniaturization and the enhancement of capacity, by applying rotation to the rotary or eccentric lens of a reticle performing the chopping of light by utilizing the rotation of the gyroscopic motor of a hollow rate sensor. CONSTITUTION:The light passing through a dome 9 is condensed to a reticle 11 by an optical system 7 to form a focus. Because the reticle 11 is rotated by a gyroscopic motor, the light deflected from an optical axis comes to an error signal having the informations of the output and position corresponding to deflection quantity. The reticle 11 has slit surfaces previous and impervious to incident light formed thereto and performs the chopping of the light condensed to said slit surfaces to allow light to be incident to a detector 8. The detector 8 converts incident light to an electric signal corresponding to the intensity of the light to send said signal to a signal processing part 12. The processing part 12 receives the electric signal and the reference signal from the gyroscopic motor of a rate sensor to supply both signals to an outer torquer 4 and an inner torquer 5 to generate torque of rotation until an error signal comes to zero and an optical axis is allowed to coincide with a target.

Description

[Detailed description of the invention] (Technical field) The present invention relates to a missile guidance device.

(Prior Art) As shown in FIG. 3, the conventional single-axis detection type rate sensor is mounted on a gimbal, and the nine-guidance device has a structure in which two are placed in each of the t-Y and Z axes. - As an example, a case will be described in which an optical system is mounted on a two-degree-of-freedom gimbal, the optical system is held stably in space, and the optical system is attached to a guidance device that tracks a target.

The optical system itself is rotated as part of a 7-rigid gyro and has a stable system with 2 degrees of freedom, and the optical system is not rotated and has a stable system with 2 degrees of freedom.
Two rate sensors are placed on a gimbal with t-2 degree of freedom and two rate sensors are placed perpendicular to the axis of the optical system. There are nine stable systems arranged orthogonally to each other, and stable systems in which the optical system is arranged on a gimbal with t-2 degrees of freedom and the rate sensor is fixed to the aircraft body. Each of the above devices has a limit in achieving a particularly high angular velocity and a large tracking angle for the target, and in terms of miniaturization.

The above device has an optical system 7 consisting of an objective lens, a detector, a reticle, an eccentric lens, etc. The outer gimbal 2 is mounted on a gimbal system (supported by a support frame 1) having two degrees of freedom. This gimbal is a potentiometer.

A rate sensor 6 and a torque motor (outer torquer 4°, inner torquer 5) detect the angle, detect the spatial angular velocity, and drive the gimbal to stabilize the space against disturbances.

(Problem to be solved by the invention) In order to track a target, it is necessary to obtain its position information. Tracking is made possible by driving a torque motor using position information from a reference signal fixed to the aircraft axis and an error signal sent from a detector, and making the error signal zero. In order to obtain an error signal, the incident light is focused onto a reticle by an optical system, the light is interrupted by the reticle, and the signal is converted into an electrical signal to be transmitted to a detector and the signal processing described above is performed.

+'t As a means of chopping, there is a method in which a motor is used to rotate the lens to rotate the light on a fixed reticle, and a method in which a motor is used to rotate the reticle and intermittent the source on the reticle.A dedicated motor is required. Become.

Conventionally, there are two rate sensors and one chopping motor, and the nine rate sensors are placed away from the center of the optical axis so that the two axes intersect at right angles, and the chopping motor is placed independently around the optical axis. .

This drawback is that the weight distribution is biased toward the optical axis, so it is necessary to add a balance weight. Therefore, the increase in the moment of inertia of the Y and Z axis rotations, the increase in the mounting pace, and the increase in the output of the torque motor are becoming obstacles to the realization of a compact guidance device with a high angular velocity and a large tracking angle. Ta.

The present invention solves the above-mentioned drawbacks, and by adopting a hollow cylindrical rate sensor, the moment of inertia of the fi, Y, and Z axes is reduced, and the number of parts is reduced, leading to miniaturization and high performance. It provides a means by which the device can achieve this goal.

(Means for solving the problem) The present invention arranges a hollow cylindrical rate sensor on the optical axis in place of two rate sensors, and rotates the optical axis of the gyro motor that the hollow rate sensor has. Since it has a lens or reticle rotation mechanism that utilizes the rotation of the lens, the detector can be placed in the hollow part of the rate sensor, and the guiding device can be made smaller and have higher performance.

(Embodiments of the invention) Examples of the invention will be described with reference to FIGS. 2 and 3.

The guidance device is a support frame 1. Outer gimbal 2. Inner gimbal 3. Autatorka 4. Inner torquer 5° rate sensor 6, optical system 7. Detector 8. Dome 9° potentiometer 10. It consists of a reticle 11.

The support frame 1 supports the actagimbal 2 via bearings directly fixed to the aircraft body. The outer gimbal 2 provides a degree of freedom in the l-axis perpendicular to the aircraft body, and is supported by the inner gimbal 3'It through bearings. The inner gimbal 3 provides a degree of freedom in another axis perpendicular to the aircraft body, allowing rate selection.6. Optical system 7. The detector is mounted 8ft.

The acta torquer 4 is mounted on the axis of the acta gimbal 2 and generates rotational torque in the direction of the degree of freedom of the outer gimbal 2. Further, the inner torquer 5 is mounted on the axis of the inner gimbal 3 and generates rotational torque in the direction of the degree of freedom of the inner gimbal 3.

Rate sensor 61d, gyro motor 14. Rate detection mechanism 152 rotation shaft 13 support bearing 16,
Detects the rates of two axes perpendicular to the machine axis.

A reticle 11 is attached to the rotating shaft.

The optical system 7 (including a condenser lens) condenses the incident light onto the reticle surface. The detector 8 is a photoelectric converter that converts light focused on the reticle surface into electricity. The dome 9 is attached to the tip of the guide device and serves as a window through which light enters.

The potentiometer 710 is attached to each axis of the outer gimbal 2 and inner gimbal 3, and detects the tilt angle with respect to each axis. The reticle 11 forms a slit surface that is transparent and opaque to incident light, and chops the light focused on the surface.

In the operation of the guiding device according to the present invention, the light beam that has passed through the dome 9 is condensed onto the scinticle 11 by the optical system 7 to form a focal point. Since the reticle 11 is rotated by a gyro motor, it is deviated from the optical axis, and the nine lights become error signals having output and position information corresponding to the dominant amount. Reticle 11
The chopped light enters the detector 8.

The detector 8 converts the incident light into an electrical signal corresponding to the intensity of the light.
The signal is sent to the signal processing section 12. The signal processing unit 12 receives this electric signal and the reference signal from the gyro motor of the rate sensor, decomposes it into components of two axes orthogonal to the machine axis, and generates the corresponding acta torque 4. It is possible to supply the inner torquer 5 to generate rotational torque until the error signal becomes zero, rotate the acta gimbal and the inner gimbal, and align the optical axis with the target.

In the second embodiment, the reticle is fixed to a reticle that rotates the reticle, a lens is installed in front of the reticle that emits light eccentrically with respect to the optical axis, and the light that is rotated multiple times by the gyro motor of the rate sensor is directed onto the reticle. The original chopping is obtained by the slit and becomes the error signal.

Other than that, the method is the same as above.

In the third embodiment, the reticle 11f of the second embodiment:
It is also possible to perform a rosette scan by attaching a detector at the reticle position, placing an eccentric lens that rotates multiple times with a motor in front of the eccentric lens, and reversing the rotation direction of each lens. It is possible.

The fourth embodiment differs from the first embodiment in that a detector capable of detecting the shape of the image is placed at the position of the rotating reticle, and it is also possible to output a signal as an image. be.

(Effects of the Invention) As explained above, the present invention utilizes the rotation of the gyro motor of the hollow rate sensor to rotate the reticle for chopping light or to rotate the eccentric lens. By eliminating the need for a motor, it has the effects of reducing component materials, downsizing, power consumption, cost reduction, and high performance.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an embodiment of the present invention, FIG. 2 is a sectional view showing an optical configuration in an embodiment of the present invention, and FIG.
The figure is a perspective view of a guidance device in which a conventional uniaxial detection type rate sensor is mounted on a gimbal. DESCRIPTION OF SYMBOLS 1... Support frame, 2... Acta gimbal, 3... Inner gimbal, 4... Outer torquer, 5... Inner torquer, 6... Rate set/su, 7... Optical system, 8...
...detector, 9...dome, 10...potency meter, 1 reticle, 12...condenser lens, 13
... Rotating shaft, 14... Gyro motor, 15... Rate detection mechanism, 16... Support bearing, 17...
Incoming optical path.

Claims (1)

[Claims] A rotor of a hollow cylindrical rate sensor used to stabilize the optical system for detection in space in a guidance device that detects infrared radiant energy generated by a target and generates a guidance signal for tracking the target. It is characterized by using the rotational movement of the drive rotation shaft to modulate (chop) the light or decenter the optical axis of the light necessary for signal processing to detect the direction of incidence of the incident infrared light into the optical system. Guidance device.