KR101062228B1 - Apparatus and method for generating guided command using strapdown seeker - Google Patents

Abstract

The present invention relates to an apparatus and method for generating an instruction for command using a strapdown searcher, the apparatus for generating an instruction for command using a strapdown searcher, comprising: a strapdown searcher for calculating a viewing angle between a vehicle and a target; An inertial coordinate system converting unit for converting a to an eye angle of an inertial coordinate system, an induction command calculating unit for calculating an induction command using the converted eye angle, and a body coordinate system for converting the calculated induction command to an induction command of a body coordinate system. And a conversion unit and an induction control command execution unit that performs an induction control command according to the converted induction command. According to the apparatus and method for generating an instruction command using the strapdown searcher as described above, by using a strapdown searcher instead of a gimbal type searcher on the guided missile, there is an effect of facilitating maintenance and repair, and a target search result of the strapdown searcher. By simply performing the transformation of the coordinate system with respect to the above, there is an effect of using the apparatus and method for generating an existing instruction using the existing Gimbal-type searcher as it is.

Description

APAPATUS AND METHOD FOR GENERATING GUIDED COMMAND USING STRAPDOWN SEEKER}

The present invention relates to an apparatus and method for generating an instruction, and more particularly, to an apparatus and method for generating an instruction using a strapdown searcher.

In general, a gimbaled seeker is widely used as a target acquisition sensor in an aircraft such as a missile. The Gimbal-type searcher directs the target acquisition part of the searcher to direct the target on the inertial coordinate system independently of the fuselage motion of the missile, thereby directly providing visual angular velocity information between the missile and the target required for generating the proportional navigation guidance command.

Recently, however, a lot of researches have been conducted on strap-down searchers which are easy to maintain, reduce troubleshooting, and reduce cost by fixing the searcher to the guided coal body.

Therefore, there is a need for a technique for generating a guide command of an aircraft through the strapdown searcher.

SUMMARY OF THE INVENTION An object of the present invention is to provide an apparatus for generating an instruction command using a strapdown searcher.

Another object of the present invention is to provide a method for generating an instruction using a strapdown searcher.

According to an object of the present invention, an apparatus for generating an instruction command using a strapdown searcher, the apparatus for generating an instruction command using a strapdown searcher, includes a strapdown searcher for calculating a viewing angle between a vehicle and a target, and the calculated gaze An inertial coordinate system converting unit for converting an angle into a viewing angle of an inertial coordinate system, an induction command calculating unit for calculating a derivation command using the converted viewing angle, and a body for converting the calculated derivation command into a deriving command of the fuselage coordinate system It is configured to include a coordinate system conversion unit, and an induction control command performing unit for performing an induction control command according to the converted induction command. Here, the strapdown searcher may be configured to calculate a line of sight between the target and the vehicle with respect to a pitch axis and a yaw axis.

In accordance with another aspect of the present invention, there is provided a method of generating an instruction using a strapdown searcher, the method of generating an instruction using a strapdown searcher, the method comprising: calculating a viewing angle between a vehicle and a target, and the calculated viewing angle Converting a to a visual angle of an inertial coordinate system, calculating a derivation command using the converted visual angle, converting the calculated derivation command to a derivation command of a fuselage coordinate system, and the converted derivation command It may be configured to include performing an induction control command according to. Here, the calculating of the viewing angle between the vehicle and the target may be configured to calculate the viewing angle between the target and the vehicle with respect to the pitch axis and the yaw axis.

According to the apparatus and method for generating an instruction command using the strapdown searcher as described above, by using a strapdown searcher instead of a gimbal type searcher on the guided missile, there is an effect of facilitating maintenance and repair, and a target search result of the strapdown searcher. By simply performing the transformation of the coordinate system with respect to the above, there is an effect of using the apparatus and method for generating an existing instruction using the existing Gimbal-type searcher as it is.

1, the concept of the pitch, roll and yaw direction of the missile will be described first.
2 is a block diagram of an apparatus for generating an instruction command using a strapdown searcher according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating a LOS angle with respect to an inertial space according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating a concept of a viewing angle with respect to an image plane and a fuselage coordinate system according to an embodiment of the present invention.
5 is a diagram illustrating a transformation relationship between an inertial coordinate system and a visible line coordinate system according to an exemplary embodiment of the present invention.
6 is a diagram illustrating a transformation relationship between a strapdown searcher coordinate system and a pointing coordinate system according to an embodiment of the present invention.
7 is a flowchart illustrating a method of generating an instruction using a strapdown searcher according to an embodiment of the present invention.

As the present invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar elements.

Terms such as first, second, A, and B may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

When a component is said to be "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that another component may exist in between. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1, the concept of the pitch, roll and yaw direction of the missile will be described first.

The missiles rotate about the pitch axis, roll axis and yaw axis, and the autopilot controls each of the three axes to determine the direction of flight of the missiles to reach the desired destination.

In FIG. 1, the missile 100 may be displayed on an XYZ coordinate system, and the X axis may include a pitch axis 101, a Y axis as a roll axis 102, and a Z axis as a yaw axis 103. The pitch axis 101 is a central axis in which the nose of the guided missile 100 moves up and down, and the roll axis 102 is a central axis in which the missile 100 inclines the wings from side to side with respect to the fuselage. 103 is a central axis for moving the nose of the guided missile left and right while keeping the wing of the guided missile 100 horizontal.

As described above, in a missile such as a missile, the attitude and direction of the missile 100 may be controlled using control values of pitch, roll, and yaw about three axes with respect to the missile control blade.

2 is a block diagram of an apparatus for generating an instruction command using a strapdown searcher according to an embodiment of the present invention.

An angular velocity gyro and an accelerometer are provided in the vehicle to generate an instruction to guide the aircraft using the strapdown searcher according to the present invention. Unlike gimbal-type explorers, there are no additional angular velocity gyros in the strap-down explorer, so the measured values in the strap-down explorer can be used to generate direct control commands. In this case, since the viewing angle measured by the strap-down searcher is a value measured in the fuselage coordinate system of the aircraft rather than the inertial coordinate system, an error according to the coordinate system occurs when using this value.

Accordingly, in the present invention, a coordinate command is converted into an inertial coordinate system to calculate an induction command, and the calculated value is converted back to a fuselage coordinate system to perform an induction control command. In one embodiment of the present invention, since the line of sight (LOS) between the target and the vehicle is calculated with respect to the pitch axis and the yaw axis, the strapdown searcher calculates the guidance command after converting it to the eye angle with respect to the inertia space. do. Hereinafter, each structure is demonstrated.

The strap-down searcher 210 calculates and outputs a viewing angle between the target and the vehicle with respect to the pitch axis and the yaw axis. The inertial coordinate system converting unit 220 converts the visual angle calculated by the strap-down searcher 210 into an inertial frame, and outputs the inductive command calculating unit 230 to the inertial coordinate system. The derived command is used to calculate the induction command.

In addition, the body coordinate system conversion unit 240 converts the induction command calculated by the induction command calculation unit 230 into the body coordinate system, and the induction control command performing unit 250 uses the induction command converted into the body coordinate system. Perform the induction control command for. Detailed operations of the induction command generation device using the strapdown searcher described with reference to FIG. 2 will be described in detail with reference to the accompanying drawings.

First, since the viewing angle measured by the strapdown searcher 210 illustrated in FIG. 2 is a value measured in the fuselage coordinate system of the aircraft, not the inertial coordinate system, it should be converted into the viewing angle with respect to the inertial space. Therefore, the inertial coordinate system conversion unit 220 converts the viewing angles of the pitch axis and yaw axis between the target and the vehicle measured by the strap-down searcher 210 to the LOS angle based on the inertial coordinate system.

를 다음의 수학식 1과 같이 나타낼 수 있다. The inertial coordinate system converting unit 220 uses the target position vector and the position vector of the vehicle to form a LOS vector for the inertial coordinate system.

May be expressed as in Equation 1 below.

는 표적 위치 벡터이고,

는 비행체의 위치 벡터이다.From here,

Is the target position vector,

Is the position vector of the aircraft.

The LOS angle (yaw, pitch) expressed in the inertial coordinate system may be expressed by Equation 2 below.

Here, the LOS vector expressed in the inertial coordinate system may be converted to the LOS vector expressed in the fuselage coordinate system through Equation 3 below through a coordinate transformation matrix.

In the strap-down searcher 210, the position of the target appears in the image plane, which is a value in the fuselage coordinate system as shown in Equation 4 below.

Equation 1 to Equation 4 illustrate a process of the inertial coordinate system converting unit 220 converting an eye angle with respect to a body frame into an eye angle with respect to an inertial space according to an embodiment of the present invention. The definitions of the terms used in the equations are as follows.

은 동체 좌표계(body frame)에서의 LOS 벡터(vector)를 의미하고,

은 렌즈 초점 거리(lens focal length)를 나타내며,

는 동체 좌표계에서 x-축, y-축, z-축을 나타내며, [y, z]는 이미지 평면 값(image plane value)을 나타내며,

는 동체 좌표계에서 나타나는 LOS 요 각(LOS yaw angle represented in body frame)을 나타내며,

는 동체 좌표계에서 나타나는 LOS 피치 각(LOS pitch angle represented in body frame)을 나타내며, 수학식 1 내지 수학식 4는 도 3을 통해 표현된다.Terms used in Equations 1 to 4 above

Is the LOS vector in the body frame,

Represents the lens focal length,

Denotes the x-axis, y-axis, and z-axis in the fuselage coordinate system, [y, z] denotes the image plane value,

Represents the LOS yaw angle represented in body frame,

Denotes a LOS pitch angle represented in the body frame, and Equations 1 to 4 are represented through FIG. 3.

FIG. 3 is a diagram illustrating a LOS angle with respect to an inertial space according to an embodiment of the present invention.

The relationship between the viewing angles of the image plane and the fuselage coordinate system is shown in Equation 5 below, which is shown in FIG. 4.

FIG. 4 is a diagram illustrating a concept of a viewing angle with respect to an image plane and a fuselage coordinate system according to an embodiment of the present invention.

When the Y and Z values are initially measured in the image plane through the above-described Equations 1 to 5, the gaze angle for the fuselage coordinate system and the gaze angle for the inertia space can be derived as shown in Equation 6 below. .

는 다음의 수학식 7과 같이 정의되며 그 구성 요소인

는 수학식 8과 같이 정의된다. Where coordinate transformation matrix from inertial frame to body frame

Is defined as in Equation 7 below, and its components

Is defined as in Equation 8.

Five coordinate systems are required to calculate the line of sight change rate (LOS rate), the inertial frame, the body frame, the strapdown seeker frame, and the pointing frame. ), And an LOS frame. Here, the strapdown searcher is fixed to the fuselage of the aircraft, so it can be identified with the fuselage coordinate system. Coordinate transformation of each coordinate system is shown in Equation 9 below and FIGS. 5 and 6.

5 is a diagram illustrating a transformation relationship between an inertial coordinate system and a visible line coordinate system according to an exemplary embodiment of the present invention. 6 is a diagram illustrating a transformation relationship between a strapdown searcher coordinate system and a pointing coordinate system according to an exemplary embodiment of the present invention.

In Equation 9, e _y and e _x are LOS angle errors. The rate of change of the fuselage coordinate system and the pointing coordinate system is expressed by Equation 10 below.

Equations 11 and 13 below are established as basic equations of motion, respectively.

Summarizing Equations 10 to 13, the line of sight change rate (LOS rate) can be derived as shown in Equation 14 below.

과

은 아래의 수학식 15와 같이 계산될 수 있다.Here, in Equation 14

and

May be calculated as in Equation 15 below.

As described above, the instruction for generating the guidance may be generated by calculating the viewing angle and the viewing angle change rate of the strap-down searcher.

7 is a flowchart illustrating a method of generating an instruction using a strapdown searcher according to an exemplary embodiment of the present invention.

In operation S110, the strap-down searcher 210 calculates a viewing angle between the vehicle and the target. Here, the strapdown searcher 210 may be configured to calculate the viewing angle between the target and the vehicle with respect to the pitch axis and the yaw axis.

In operation S120, the inertial coordinate system conversion unit 220 converts the viewing angle calculated by the strap-down searcher 210 into the inertial coordinate system.

In step S130, the induction command calculator 230 calculates the induction command by using the inertia coordinate value of the visual angle converted by the inertial coordinate system conversion unit 220 in step S120, and fuselage coordinate system conversion unit 240 in step S140. Converts the calculated derivation command into the fuselage coordinate system.

Finally, in step S150, the induction control command performing unit 250 performs the induction control command using the body coordinate system transformed induction command.

Although described with reference to the embodiments above, those skilled in the art will understand that the present invention can be variously modified and changed without departing from the spirit and scope of the invention as set forth in the claims below. Could be.

Claims (4)

In the guidance command generation device using a strapdown searcher,
A strapdown searcher that calculates a viewing angle between the vehicle and the target;
An inertial coordinate system converting unit converting the calculated gaze angle into a gaze angle of an inertial coordinate system;
An instruction instruction calculator configured to calculate an instruction using the converted line of sight;
A body coordinate system converting unit for converting the calculated derivation instruction into a derivation command of the body coordinate system;
And an induction command generating unit including an induction control command execution unit configured to perform an induction control command according to the converted induction command. The method of claim 1, wherein the strap-down searcher,
And a gaze angle between the target and the vehicle is calculated with respect to a pitch axis and a yaw axis. In the method of generating a guide command using a strapdown explorer,
Calculating a viewing angle between the vehicle and the target;
Converting the calculated viewing angle to the viewing angle of the inertial coordinate system:
Calculating a derivation command using the converted gaze angle;
Converting the calculated derivation command into a derivation command of a fuselage coordinate system; and
And performing a derivation control command according to the converted derivation command. The method of claim 3, wherein the calculating of the viewing angle between the vehicle and the target comprises:
And calculating a viewing angle between the target and the vehicle with respect to a pitch axis and a yaw axis.

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