KR101958469B1 - Target aiming apparatus and method thereof - Google Patents

Abstract

Disclosed are an apparatus and a method for aiming a target. The apparatus for aiming a target comprises: an antenna unit receiving a signal reflected after being radiated on a target; a signal processing unit extracting from the received signal a plurality of range cells to which a target characteristic according to a geometric characteristic of the target is reflected, and designating a representative cell corresponding to an aiming point from the plurality of range cells extracted by considering the physical size of the target; and an aiming angle extracting unit which extracts an aiming angle with respect to the designated representative cell. Therefore, the present invention can aim a fragile portion of the target, even if a peak value corresponding to the fragile portion of the actual target depending on the aspect angle between a radar and a target is not generated from the extracted range cells.

Description

[0001] TARGET AIMING APPARATUS AND METHOD THEREOF [0002]

The present invention relates to an apparatus for processing a signal of an airborne radar to aim a target. More particularly, to an apparatus and method for processing a signal of a millimeter waveband airborne radar to aim at a vulnerable portion of a target.

Generally, a monopulse radar is mounted on the front part of a guided car in order to strike a target by using a proportional navigation induction method, which is a method of controlling the rate of change of the trajectory in the flight of the guided car to be proportional to the rate of change of the target In order to hit the main part of the target, angular information was needed in space. Therefore, it has been generally necessary to select an aiming point for a main part of the target and to transmit the angle information about the point to the induction adjusting device.

Conventionally, in the method of aiming a target, a signal having the largest Radar Cross Section (RCS) of a received signal reflected from a target and a target are detected and tracked, There was a limit to strike. Specifically, in the process of tracking the radar target, the radar reflection area (RCS) value of the target changes in real time according to the relative angle of the target and the radar. Therefore, When the information is transmitted to the induction control unit, there is a problem that a large error occurs at the final ending stage.

Therefore, if a target body composed of a relatively thick steel plate, such as a turret corresponding to a vulnerable portion of a train, is hit rather than a desired weak portion of an actual target, the target can not be destroyed at once, have.

The present invention receives a signal reflected from a target in order to strike and hit a vulnerable portion of a target that changes in real time according to the relative jaw angle of the target and the radar, extracts a plurality of range cells reflecting the target characteristic according to the geometrical characteristics of the target , A target aiming device for setting a representative cell corresponding to an aiming point in consideration of a physical size of a target from extracted range cells and extracting an aiming angle with respect to a set representative cell to aim at a weak part of the target and a method thereof .

According to an aspect of the present invention, there is provided a target aiming apparatus including: an antenna unit that emits a signal for aiming a target and receives a signal reflected from the target; Extracting a plurality of range cells reflecting the target characteristic according to the geometrical characteristics of the target from the received signal and setting a representative cell corresponding to the aiming point from the extracted plurality of range cells in consideration of the physical size of the target ; And a sighting angle extraction unit for extracting a sighting angle for the set representative cell.

Preferably, the signal processing unit obtains radar reflection area distribution data indicating the magnitude of the signal reflected on the target in unit of area, performs inverse Fourier transform on the obtained radar reflection area distribution data, A range profile generating unit for generating a range profile including information of a range corresponding to a distance difference between the target and the target; A range cell extracting unit for extracting a plurality of range cells from the range profile; And setting a range period in consideration of a physical size of the target from the extracted plurality of range cells and setting the representative cell using a peak value indicating a received power of a plurality of range cells included in the set range period And a representative cell setting unit.

Preferably, the ranging cell extractor includes a range cell signal information determiner for determining signal information of the plurality of range cells including peak value information and the range information of each of the plurality of range cells in the range profile. A residual power calculator for calculating a residual power of the range profile while eliminating the range profile from the range profile in order from the range cell having the largest peak value among the plurality of range cells in which the signal information is determined; And a range cell extraction determining unit for determining whether to extract the plurality of range cells based on the calculated remaining power of the range profile.

Preferably, the representative cell setting unit may set an interval corresponding to a range between a first range cell having the smallest range and a second range cell having the largest range among the extracted plurality of range cells as the range period.

Preferably, the representative cell setting unit may set the representative cell using (i) a range of a plurality of range cells included in the range period, and (ii) a peak value of a range cell including the range.

Preferably, the representative cell setting unit may multiply the range of each of the plurality of range cells included in the range period by a peak value of the range cell including the range to be fused, and the representative value of the plurality of range cells included in the range The representative cell having the range calculated by dividing the sum of the peak values of each of the range cells can be set.

Preferably, the ranging cell extracting and deciding unit stops the removal of the range cell in a period in which the calculated amount of variation in the residual power of the range profile varies, and removes the range cell immediately before a period in which the variation amount of the residual power varies from the range cell having the highest peak value. The extracted range cell can be extracted.

Preferably, the antenna unit receives a plurality of channel signals from the target, and the signal processing unit includes: a comparator that generates a sum channel signal through a plurality of channel signals received by the antenna unit; And a filter unit for matched the frequency of the sum channel signal so as to maximize a signal-to-noise ratio (SNR) of the generated sum channel signal and filtering the generated sum channel signal And extract a plurality of range cells reflecting the target characteristic according to the geometrical characteristics of the target from the filtered sum channel signals.

According to another aspect of the present invention, there is provided a target-aiming method including: emitting a signal for aiming a target and receiving a signal reflected from the target; Extracting from the received signal a plurality of range cells reflecting the target characteristic according to the geometrical characteristics of the target; Setting a representative cell corresponding to the aiming point from the plurality of extracted range cells in consideration of the physical size of the target; And extracting a sighting angle for the set representative cell.

The extracting of the plurality of range cells may include obtaining radar reflection area distribution data indicating a magnitude of a signal reflected on the target in unit of area; And generating a range profile including inverse Fourier transform the obtained radar reflection area distribution data and including information on a range corresponding to a distance difference between a position of the radiated signal and a distance between the target and the radiated signal; Extracting a plurality of range cells from the generated range profile, and setting the representative cell comprises: setting a range period in consideration of a physical size of the target from the extracted plurality of range cells; And may set the representative cell using peak values of a plurality of range cells included in the set range period.

Preferably, the setting of the range period includes setting a range corresponding to a range between a first range cell having the smallest range and a second range cell having the largest range among the extracted plurality of range cells as the range period .

Preferably, the step of setting the representative cell may set the representative cell using (i) a range of a plurality of range cells included in the range period, and (ii) a peak value of a range cell including the range .

According to another aspect of the present invention, there is provided a computer-readable medium having a computer readable medium thereon for executing a target sighting method according to an embodiment of the present invention.

According to the present invention, since the angle used in the induction control unit is extracted substantially by using information of a plurality of range cells having a target component rather than angle information of a peak signal of a simple target, there is an advantage of being robust against noise.

In addition, according to the present invention, since the range of the target corresponds to the weak region of the target in consideration of the size of the physical target, the advantage of the range profile that varies in real time according to the relative angle of the target and the radar have.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood to those of ordinary skill in the art from the following description.

1 shows a block diagram of a target aiming apparatus according to an embodiment of the present invention.
2 is an enlarged block diagram of a signal processing unit according to an embodiment of the present invention.
FIG. 3 is an enlarged block diagram of the range cell extracting unit described in the embodiment of FIG. 2. FIG.
4 is a block diagram for explaining a target aiming apparatus according to another embodiment of the present invention.
5 is a view for explaining a range period for predicting a target's aiming point according to an embodiment of the present invention.
FIG. 6 illustrates a method of setting a representative cell according to an embodiment of the present invention. Referring to FIG.
7 is a view for explaining an azimuth angle and an elevation angle according to an embodiment of the present invention.
8 is a view for explaining a comparator according to an embodiment of the present invention.
9A and 9B are views for explaining a method of calculating Bose Sight Error (BSE) according to an embodiment of the present invention.
Figure 10 shows a flow chart of a method of aiming a target in accordance with an embodiment of the present invention.
Figure 11 is a flow chart of a specific method of targeting a target according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

The terms "first "," second ", and the like in the present specification are for distinguishing one element from another element, and the scope of the right should not be limited by these terms. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

In the present description, the identification codes (e.g., a, b, c, etc.) in each step are used for convenience of explanation, and the identification codes do not describe the order of each step, Unless you specify a specific order, it can happen differently from the order specified. That is, each step may occur in the same order as described, may be performed substantially concurrently, or may be performed in reverse order.

As used herein, the expressions " have, " " comprise, " " comprise, " or " comprise may " refer to the presence of a feature (e.g., a numerical value, a function, And does not exclude the presence of additional features.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope. The singular expressions include plural expressions unless the context clearly dictates otherwise. Each of the steps described below may be implemented by one or a plurality of software modules, or hardware that is responsible for each function, or a combination of software and hardware.

Specific meanings and examples of the terms will be described below in accordance with the order of each drawing.

Hereinafter, a configuration of a target aiming apparatus according to an embodiment of the present invention will be described in detail with reference to the related drawings.

1 shows a block diagram of a target aiming apparatus according to an embodiment of the present invention.

Referring to FIG. 1, the target aiming apparatus 10 includes an antenna unit 100, a signal processing unit 200, and a sighting angle extracting unit 300. For example, the target aiming device is designed to solve the problem that it is difficult to target a weak region of the target because the radar reflection area value changes in real time according to the relative angle of the target and the radar in the process of tracking the target of the conventional radar The target cell corresponding to the target point can be set in consideration of the physical size of the weak part of the target, and the target angle can be extracted based on the target angle extracted for the set representative cell.

For example, the target aiming apparatus 10 according to an embodiment of the present invention may include a frequency band of a W band (56 to 110 GHz) which is a frequency band higher than the ku (12 to 18 Ghz) band and the ka (26 to 40 Ghz) And can be used in millimeter-wave band ultra-small radar devices that use the frequency band of millimeter wave band (very high frequency range) (30 to 300 GHz) to target the target.

The antenna unit 100 according to an embodiment of the present invention can emit a signal for aiming at a target and receive a signal in which a target signal is reflected to a target. The signal emitted or received by the antenna unit 100 may represent a radio frequency (RF) signal. For example, the antenna unit 100 may include a waveguide slot array antenna or a reflector antenna in the present invention, which is a target collimator 10 using a monopulse technique. The monopulse technique described above emits a single-pulse transmission signal, and can accurately estimate the azimuth or elevation of the target using the amplitude and phase difference of the received signal reflected on the target and received on a plurality of antenna channels .

In addition, the antenna unit 100 according to another embodiment of the present invention may include a main reflector, a sub-reflector, and a feed horn that can use a Cassegrain antenna with less influence of electromagnetic interference and rotate with the same rotation axis. In addition, the antenna unit 100 according to another embodiment of the present invention may have a structure in which only the main reflector is rotated, but the present invention is not limited thereto.

The signal emitted by the antenna unit 100 according to an embodiment of the present invention may include a pulse-applied signal. In addition, it may include a signal to which a monopulse technique using a single pulse is applied. Also, the transmission signal may be a signal of the Ku and ka bands, and may include signals of W band or millimeter wave (very high frequency range) (30 to 300 GHz).

The antenna unit 100 according to an embodiment of the present invention may include at least one antenna. That is, the antenna unit 100 may include a plurality of channels, but is not limited thereto.

The antenna unit 100 according to an embodiment of the present invention may include a circulator for branching a transmission signal and a reception signal to prevent signal crossing. The circulator described above can switch the transmission / reception function of the antenna to aim the target using a single antenna.

The signal processing unit 200 according to an embodiment of the present invention can extract a plurality of range cells in which the target characteristic according to the geometrical characteristics of the target is reflected from the signal received from the antenna unit 100. [ Also, the signal processing unit 200 can set representative cells corresponding to the aiming point from a plurality of range cells extracted in consideration of the physical size of the target.

The above-described signal processing unit 200 will be described in detail with reference to FIG. 2 and FIG.

2 is an enlarged block diagram of a signal processing unit according to an embodiment of the present invention.

2, the signal processing unit 200 according to an exemplary embodiment of the present invention may include a range profile generator 210, a range cell extractor 220, and a representative cell setting unit 230. Referring to FIG.

The range profile generator 210 according to an exemplary embodiment of the present invention models the signal reflected on the target and obtains Radar Cross Section (RCS) distribution data representing the magnitude of the reflected signal in units of areas , And generate a range profile including target range information by inverse Fourier transform of the obtained radar reflection area distribution data. The range information represents information corresponding to the distance difference between the antenna unit 100 and the target, with the antenna unit 100 being the center.

For example, the range profile generation unit 210 may generate a range profile having different reflection characteristics depending on the angle at which a signal for detecting a target is radiated, the polarization direction of the radiation signal, and the polarization direction of the received signal. Specifically, the range profile generating unit 210 generates a range profile by multiplying the received signal by the time taken until a signal radiated to the target by a distance apart from the target is reflected on the target and a reflected signal is received, A range profile including range information represented by a reflection area distribution can be generated.

The range profile according to an exemplary embodiment of the present invention may be a High Resolution Range Profile (HRRP). HRRP indicates a range profile generated by a predetermined size of a very high frequency signal input to the antenna unit at a predetermined time to determine whether the signal received by the radar is a single object or a multi-object. Specifically, the HRRP corresponds to one of the one-dimensional radar signatures representing a one-dimensional radar image showing the electromagnetic scattering distribution of the target in the direction of the radar line of sight (RLOS). The HRRP described above can be generated from the radar cross-sectional area distribution data through a one-dimensional inverse discrete Fourier transform (IDFT).

The range cell extracting unit 220 may extract a plurality of range cells from the range profile. Specifically, the range cell extracting unit 220 changes the range profile to a discrete signal by using Fourier transform on the range profile including the range information, and generates a discrete signal by using a cost function and a point spread function in the changed discrete signal, Can be extracted.

For example, the Fourier transform algorithm described above may include a Discrete Fourier Transform, and in particular may include a Fast Fourier Transform (FFT) algorithm based on an approximation formula. The Fast Fourier Transform (FFT) algorithm described above indicates that only necessary signals are extracted and minimized, rather than all of the signals are converted, and the Fourier transform is operated at high speed.

The range cell extracting unit 220 may extract a plurality of range cells including information of a peak value and information of a range as described later.

The range cell according to an embodiment of the present invention shows a large scattering wave in a target and exhibits a strong noise-resistant property including a reception power corresponding to a relatively large energy.

For example, the range cell extracting unit 220 can repeatedly extract the range cell as described later. The extracted range cell is removed from the range profile, and the range cell is extracted based on the residual power of the removed range profile. It is possible to repeatedly extract a plurality of range cells. The above-described residual power represents the power of the range profile from which the extracted range cell is removed from the power of the range profile before the range cell is extracted.

The range cell extractor 220 may extract a range cell using the RELAX algorithm, which is the time domain spectrum estimation technique described above. Whenever the range cell is removed from the range profile, the residual power of the range profile from which the range cell is removed Residual Power), and repeats the range cell extraction process until the calculated residual power rises.

Specifically, a method of extracting a range cell using a RELAX algorithm is a method of sequentially extracting a ranging cell having a large peak value from among a plurality of range cells including a peak value indicating a position and a received power.

Further, each time a plurality of range cells are removed from the range profile, the range power of the range profile from which the plurality of range cells are removed can be calculated, and the range cell can be extracted from the range profile according to the calculated variation amount of the residual power.

For example, the range cell extracting unit 220 can determine the signal information of the range cell including the information of the position and the peak value of the range cell, and extract the range cell in consideration of the residual power.

The signal information of the range cell can be expressed by a scattering coefficient as information on a range indicating the position of the range cell and a peak value indicating the received power.

The size distribution of the data in the Original HRRP (High Resolution Range Profile) in which the range cell is not extracted may change as the range cell is extracted. Since the range cell extracting unit 220 can extract the range cell and remove the extracted range cell from the original signal, the total data size within the range profile decreases as the number of extracted range cells increases , And if noise components other than the actually existing range cells are extracted, the data size within the entire range profile may be larger.

This will be described below with reference to FIG.

FIG. 3 is an enlarged block diagram of the range cell extracting unit described in the embodiment of FIG. 2. FIG.

The range cell extracting unit 220 may include a range cell signal information determination unit 221, a residual power calculation unit 222, and a range cell extraction determination unit 223 according to an embodiment of the present invention.

The range cell signal information determination unit 221 may determine signal information of a plurality of range cells including a peak value information and a range information of each of a plurality of range cells in a range profile including range information. Specifically, the range profile including the range information is changed to a discrete signal using the Fourier transform, and the peak value information and the range information of each of the plurality of range cells are included in the changed discrete signal using the cost function and the point spread function To determine signal information of a plurality of range cells.

For example, the signal information of the range cell may be expressed as (a, f) as a coefficient indicating the size corresponding to the position and peak value of the range cell, and may include a: amplitude (Amplitude) and f: And the range information in the range profile may include information for indicating position information (scattering coefficient).

A process of extracting a range cell according to an embodiment of the present invention will be described with reference to Equations (1) to (4).

Here, y represents the original data of the range profile changed to a discrete signal denoted by a matrix. i is an integer having a value from 1 to k, a _i is the amplitude of the i-th data, and f _i is the position of the ith data in the range profile changed to a discrete signal. and w (f _i ) represents a weighting function having an input of the position of the i-th data. The weighting function can be expressed by the following equation (2).

Here, w (f _i ) is a weighting function having an input of the position of the i-th data, and can be represented by a matrix. f _k denotes the position of the k-th data in the range profile is changed to a discrete signal, T represents the transpose of the matrix.

The position information a and f in the original data represented by the weighting function and the data size, which are input from the position information of Equation (2), must be set to a value minimizing the cost function in Equation (3).

C3 represents a cost function that inputs the size (a ₁ ) of data and the position information (f ₁ ). y is the original signal, w (f _k) is a weighting function to the input location information f _k of the K-th data, a _k denotes the size of the K-th data, ∥ · ∥ is a Euclidean guy (Euclidean norm ).

는 포인트 스프레드 함수, a_i는 i번째 데이터의 크기, w(f_i)는 i번째 데이터의 위치 정보를 입력으로 하는 웨이팅 함수를 나타낸다.Y _{k obtained} by removing one point spread function from the original signal is expressed by Equation (4), where y _k is a signal obtained by removing one point spread function from the original signal, y is an original signal,

Denotes a point spread function, a _i denotes a size of the i-th data, and w (f _i ) denotes a weighting function that inputs position information of the i-th data.

Further, f _k according to an embodiment of the present invention may be determined by the position of the pole has a maximum extreme value (size, Amplitude) from the signal y _k the FFT after zero padding (zero padding).

First, if the number of range cells to be extracted (the number of position information pairs) is set to one, K = 1, and f ₁ and a ₁ are obtained from y. Assuming that the number of range cells to be extracted is 2, K = 2, and substituting f ^ ₁ and a ^ ₁ into (4) for f ^ ₂ and a ^ ₂ . The computed f ^ ₂ and a ^ ₂ can be reassigned to equation (4) to recalculate f ^ ₁ and a ^ ₁ to re-determine the location information of the two range cells to be extracted. If the number of the range cells to be extracted is set to 3, the value of the position information obtained in the second step is substituted into the equation (4) to obtain y ₃ , from which f ₃ and a ₃ are calculated, By repeating the above procedure, the position information of the range cell to be extracted can be calculated by re-determining f ^ ₁ , a ^ ₁ and f ^ ₂ , a ^ ₂ .

As described above, the process of determining the signal information while re-determining the previously determined signal information on the basis of the signal obtained by removing the single point spread function from the original signal by the range cell signal information determination unit 221 can be expressed by Equation And can be adapted to the process of obtaining signal information by optimization.

The range cell extracting unit 220 may extract a plurality of range cells by repeating the above-described process. Whenever the extracted range cell is removed from the range profile, which is the original signal, It is possible to determine whether to extract the range cell by further considering the calculated remaining power of the range profile from which the cell has been removed.

The residual power calculator 222 calculates the residual power of the range profile by subtracting from the range profile in order from the range cell having the largest peak value among the plurality of range cells in which the signal information is determined by the range cell signal information determination unit 221 Residual Power) can be calculated.

For example, a discrete signal this range cell is removed range profile changed _k = y _[k1 y, y _{k2, k3} ... y y _kN ], the method of calculating the remaining power is expressed by Equation (5).

Where N is the length of the signal in the discrete signal with the changed range profile from which the range cell is removed and y _nk is the nth element in the signal of the discrete signal with the changed range profile from which the kth range cell has been removed. The formula for calculating the residual power may correspond to the process of calculating RMS (Root Mean Square) power.

The range cell extraction determination unit 223 can determine whether to extract a plurality of range cells based on the residual power of the range profile calculated by the residual power calculation unit 222 described above. Specifically, the range cell extraction determining unit 223 stops the removal of the range cell in a period in which the residual power variation of the range profile calculated by the remaining power calculator 222 is different from the range cell to determine the range of the residual power It is possible to determine whether or not to extract a plurality of range cells by extracting the removed range cell just before the interval where the variation amount is changed.

The process of removing the range cell in which the signal information is determined from the range profile and calculating the remaining power of the range profile from which the range cell has been removed is as described above. When the range cell is removed from the range profile, the residual power of the range profile from which the range cell has been removed tends to decrease. However, when the number of range cells removed from the range profile is equal to or greater than the predetermined threshold value, Can be increased again.

This is based on the square calculation of the absolute value of the signal component in the range profile from which the range cell is removed in the above Equation 5 and the characteristic of the complex signal. If the range cell extracting unit 220 is larger than the number of range cells The residual power calculated by the residual power calculation unit 222 may increase as the noise power is substantially added to the range cell.

Therefore, when the residual power calculated by the residual power calculation unit 222 shows a result of increase, the range cell extraction decision unit 223 can stop the process of extracting the range cell from the range profile.

However, since the conventional range cell extraction technique does not limit the number of such range cells, there is a problem that all samples should be stored in one range profile.

Therefore, the ranging cell extracting unit 220 according to an embodiment of the present invention can remove the peak values of the plurality of range cells repeatedly extracted by the above-described method, Each of the range cells is removed, and the remaining power of the range profile from which the range cells are removed can be calculated, and the range cells can be extracted according to the calculated variation amount of the remaining power.

Referring again to FIG. 2, the representative cell setting unit 230 according to an exemplary embodiment of the present invention may set a range period in consideration of the physical size of the target from a plurality of range cells extracted by the above-described method. Specifically, the representative cell setting unit 230 according to an exemplary embodiment of the present invention includes a first range cell having the smallest range among the plurality of range cells extracted by the method described above and a second range cell having the smallest range among the second range cells having the largest range Can be set to the above-described range period. A detailed description of the range period will be described with reference to FIG.

5 is a view for explaining a range period for predicting a target's aiming point according to an embodiment of the present invention.

Referring to FIG. 5, a target according to an embodiment of the present invention represents a tank, and an aiming point for aiming the tank is a turret part of a tank corresponding to a rotating part, which is known to be relatively weak as compared with a body of a tank, . The rotary turret region of the tank described above represents a vulnerable site for destroying the tram target at one time. It should be noted, however, that the above-described exemplary embodiments are merely examples for illustrating one embodiment of the present invention, and the present invention is not limited thereto.

Specifically, the vulnerable portion of the target may represent a first target portion 510, a second target portion 520, and a third target portion 530, as shown in FIG.

The vulnerable portion of the target described above may correspond to a plurality of range cells extracted from the range profile by the above-described method according to an embodiment of the present invention. Specifically, the first target portion 510 may correspond to the third range cell 511, the second target portion 520 may correspond to the fourth range cell 521, and the third target portion 520 530 may correspond to the fifth range cell 531.

At this time, the representative cell setting unit 230 according to an exemplary embodiment of the present invention sets a first range cell 541 having the smallest range and a second range cell 542 having the smallest range among the plurality of range cells extracted from the range profile May be set as a range period 540. In this case, In the range profile according to an exemplary embodiment of the present invention, the x axis corresponding to the abscissa represents a relative position, and the y axis corresponding to the ordinate axis represents the received power.

The first range cell 541 indicates the start cell, the range of the relative position is 2.139 m, and the peak value corresponding to the received power is 0.3125.

The second range cell 542 represents the end cell, the relative position range is 4.248 m, and the peak value corresponding to the received power is 0.5499.

Therefore, the representative cell setting unit 230 according to an embodiment of the present invention can set a corresponding range period 540 from the first ranging cell 541 to the second ranging cell 542, It can be seen that the range of the range cell 541 and the range of the second range cell 542 show a difference of about 2.1 m. The representative cell setting unit 230 predicts the aiming point corresponding to the weak region from the third to fifth range cells 511 to 531 included in the range period 540 corresponding to about 2.1 m, You can set the cell.

The representative cell setting unit 230 according to an exemplary embodiment of the present invention may include a plurality of range cells including a first range cell 541 indicating the beginning of the extracted range cells and a second range cell 542 indicating the end (X axis) indicating the relative position of the range cells 511, 521, and 531 and the received power (y axis) corresponding to the peak value of the range cell including the above range, Can be set.

Referring to FIG. 2 again, the representative cell setting unit 230 according to an exemplary embodiment of the present invention uses a peak value indicating received power of a plurality of range cells included in a range period set by the above-described method, The corresponding representative cell can be set. A specific method of setting the representative cell will be described with reference to FIG.

FIG. 6 illustrates a method of setting a representative cell according to an embodiment of the present invention. Referring to FIG.

The representative cell setting unit according to an exemplary embodiment of the present invention may set a representative cell corresponding to an aiming point by using a centroid algorithm corresponding to a technique of extracting the center of gravity of an object.

6 is a diagram illustrating a center of gravity corresponding to an arbitrary object 600. A position 630 corresponding to the center of gravity of an arbitrary object 600 is divided into a first position 611, (612) and the third position (613).

6, the mass of an arbitrary object 600 at the first position 611 corresponding to the position 1 m away from the origin is 4 kg, and the mass at the second position 612 corresponding to the position 2 m away from the origin The mass of the object 600 in the third position 613 corresponding to the position 5 m away from the origin is 6 kg and the mass of the object 600 in the third position 613 corresponding to the center of gravity of the arbitrary object 600 The position 630 can be calculated from the following equation (6).

는 임의의 물체(600)의 무게 중심에 해당하는 위치(630)를 나타내고, x_i는 임의의 물체(600)의 i 번째 위치를 나타내고, m_i는 임의의 물체(600)의 i 번째 위치에서의 질량을 나타낸다.In the above-mentioned equation (6)

Represents the position 630 corresponding to the center of gravity of any object (600), x _i represents the i th position of any object (600), m _i is the i-th position of any object (600) ≪ / RTI >

That is, from the above-mentioned example, x ₁ at the first position 611 corresponding to the first position of the arbitrary object 600 is 1 m, m ₁ is 4 kg, and the second position of the arbitrary object 600 X ₂ at the corresponding second position 612 is 2 m, m ₂ is 10 kg, x ₃ at the third position 613 corresponding to the third position of the arbitrary object 600 is 5 m, and m ₃ represents 6 kg, x _CM representing a position 630 corresponding to the center of gravity of an arbitrary object 600 represents 2.7 m from Equation (6). Therefore, the position 630 corresponding to the center of gravity of the arbitrary object 600 described above is not 3m corresponding to the position 620 considering only the length of the object not considering the weight of the arbitrary object 600, And a position 2.7 m away from the origin calculated by the method.

6, each of the first, second, and third positions 611, 612, and 613 in an object 600 in FIG. 6 includes a first target portion 611, 510, second target site 520 and third target site 530, respectively.

Therefore, in Equation (6), m _i represents a peak value (y axis) representing the received power of the i-th range cell according to an embodiment of the present invention, and x _i represents i (X-axis) representing the relative position of the second range cell.

는 본 발명의 일 실시 예에 따른 레인지 구간에 포함된 복수 개의 레인지 셀들로부터 추정된 표적 부위의 중심의 레인지를 나타낸 것이다.therefore,

Represents a range of a center of a target portion estimated from a plurality of range cells included in a range section according to an embodiment of the present invention.

That is, the representative cell setting unit 230 according to an exemplary embodiment of the present invention may multiply the range of each of the plurality of range cells included in the range period by the peak value of the range cell including the range, The representative cell having the range calculated by dividing the sum of the peak values of each of the plurality of range cells included in the range period can be set.

Referring again to FIG. 2, the representative cell setting unit 230 according to an exemplary embodiment of the present invention uses a centroid algorithm to calculate a representative cell from a plurality of range cells included in a range period set in the above- The representative cell can be set.

Referring again to FIG. 1, the aiming angle extracting unit 300 according to an embodiment of the present invention can extract a sighting angle for a representative cell set in the signal processing unit 200 described above. Specifically, the aiming angle extracting unit 300 according to an embodiment of the present invention can extract the azimuth angle and the elevation angle with respect to the representative cell set in the signal processor 200, respectively. The azimuth angle and the elevation angle will be described with reference to FIG.

7 is a view for explaining an azimuth angle and an elevation angle according to an embodiment of the present invention.

Referring to FIG. 7, the elevation angle 710 used by the target aiming device 10 in the present invention starts from the Z-axis corresponding to the direction perpendicular to the ground in the X, Y, and Z Cartesian coordinate system, It represents the angle corresponding to the degree of inclination along the circle which draws the vertical. The angle of the above-mentioned elevation angle 710 may represent an angle corresponding to between 0 and 90 degrees. In the present invention, the azimuth angle 720 used by the target aiming apparatus 10 using angle information fusion represents an angle corresponding to the degree of tilting counterclockwise along a circle parallel to the XY plane parallel to the paper surface. The angle of the azimuth angle 720 may represent an angle between 0 and 360 degrees.

Referring to FIG. 1 again, the target aiming device 10 according to an embodiment of the present invention may further include an induction steering unit for controlling the flight of the unmanned aerial vehicle, and the aiming angle extracting unit 300, The aiming angle can be transmitted to the induction control unit. The target sighting device 10 according to an embodiment of the present invention can be separately implemented from the induction control unit. For example, the target aiming device 10 may be used in an air-to-ground radar for an anti-tank guided weapon including an induction control unit, and transmits the estimated angle information to the induction control unit so that the air- So that it can be hit.

The target aiming device 10 according to an embodiment of the present invention may be mounted on a manned vehicle and may be used to aim the target by itself or receive guidance commands of the ground control system to allow the unmanned vehicle to reach the ground target. That is, the target aiming device 10 according to an embodiment of the present invention can hit the target by launching the guided missile toward the aiming angle transmitted to the induction control unit, The process can be repeated.

4 is a block diagram for explaining a target aiming apparatus according to another embodiment of the present invention.

4, the target aiming apparatus 10 according to an embodiment of the present invention includes an antenna unit 100, a signal processing unit 200, and a aiming angle extracting unit 300, and the signal processing unit 200 includes: And may include a comparator 240, a filter unit 250, a range profile generating unit 210, a range cell extracting unit 220, and a representative cell setting unit 230.

The antenna unit 100 according to an embodiment of the present invention emits a signal for aiming at a target, and a target radiated signal is reflected on a target, and the reflected signal can be received through a plurality of channels. That is, the antenna unit 100 can receive a plurality of channel signals from the target.

The comparator 240 according to an exemplary embodiment of the present invention may generate a sum channel signal through a plurality of channel signals received by the antenna unit 100.

The comparator 240 according to an exemplary embodiment of the present invention may weight a plurality of channel signals received by the antenna unit 100 and add the weighted values. For example, the comparator 240 may include a plurality of hybrid couplers, and may use a hybrid coupler to weight and sum the plurality of channel signals.

In one embodiment, the comparator 240 may include a first hybrid coupler, a second hybrid coupler, a third hybrid coupler, and a fourth hybrid coupler, and may be weighted over three output channels to provide a summed channel signal Can be output. Each of the hybrid couplers may weight the plurality of channel signals received by the antenna unit 100 and add the weights. The weighting of the plurality of channel signals by the comparator 240 adds up the plurality of channel signals received using the four hybrid couplers or the sum of the received signals in the azimuth direction or the high- Subtraction. Hereinafter, FIG. 8 will be described together.

8 is a view for explaining a comparator according to an embodiment of the present invention.

8, a comparator 240 according to an embodiment of the present invention includes a first hybrid coupler 241, a second hybrid coupler 242, a third hybrid coupler 243, and a fourth hybrid coupler 244, And outputs a summed sum channel signal to which weights are applied by the three output channels. Each of the hybrid couplers 241 to 244 may apply weighting to a plurality of channel signals received by the antenna unit 100 and add the weighted signals.

For example, the first hybrid coupler 241 and the second hybrid coupler 242 may apply weighting to the reflected signals in the high-angle direction received by the antenna unit 100 and add the weights. That is, the first hybrid coupler 241 may output the signals (A + B) and (A-B), and the second hybrid coupler 242 may output the signals (C + D) and (C-D).

The third hybrid coupler 243 receives the (C + D) signal from the second hybrid coupler 242 at an intersection thereof, A + B) - (C + D). The fourth hybrid coupler 244 receives the (A-B) signal from the first hybrid coupler 241 and outputs the (A + C) - (B + D) signal. That is, the sum channel signals of the plurality of channel signals received from the antenna unit 100 are A + B + C + D and the azimuth difference channel signals are (A + B) - (C + D) + C) - (B + D).

Referring again to FIG. 4, the target aiming apparatus 10 according to an embodiment of the present invention can set a representative cell corresponding to an aiming point of a target using only the sum channel signal generated by the comparator 240, The azimuth difference channel signal and the high-angle channel signal for the cell can be generated to extract the aiming azimuth and the aiming elevation angle for the representative cell.

The filter unit 250 according to an exemplary embodiment of the present invention receives the sum channel signal generated by the comparator 240 and outputs a sum channel signal having a signal-to-noise ratio (SNR) And the sum channel signals may be filtered by matched frequencies of the sum channel signals.

The matched filtering process is a process of separating the target signal from the interference noise, and the matched filter represents a filter that optimizes the signal-to-noise ratio. In particular, applying a matched filter can be represented as a process of convoluting the received signal with the replicated form of the transmitted waveform. For example, the filter unit 250 inverts the sum channel signal generated by the comparator 240 and the signal radiated as a target from the antenna unit 100 on the time axis, and outputs the impulse The response can be convoluted to match-filter the sum channel signal. Since the signal-to-noise ratio (SNR) of the sum channel signal is maximized at the sampling instant, the above-mentioned matched filtering process can emphasize the required signal and suppress the noise.

The signal processing unit 200 according to an exemplary embodiment of the present invention can extract a plurality of range cells in which a target characteristic according to a geometric characteristic of a target is reflected from a matched filtered sum channel signal in the filter unit 250. [

The range profile generator 210 according to an embodiment of the present invention models the matched filtered signal in the filter unit 250 to obtain radar reflection area distribution data indicating the size of the matched filtered signal in units of areas, And the range profile including the range information of the target can be generated by inverse Fourier transforming the obtained radar reflection area distribution.

In detail, the range profile generator 210 according to an exemplary embodiment of the present invention generates a range profile for a plurality of received channel signals according to a time taken until a signal radiated to a target is received by a distance apart from the antenna unit 100, The signal summed and summed in the comparator 240 may be generated as a range profile including range information indicating the target radar reflection area distribution of the signal subjected to the matched filtering in the filter unit 250. [

The range profile according to an exemplary embodiment of the present invention may be a High Resolution Range Profile (HRRP).

The range cell extracting unit 220 according to an embodiment of the present invention can extract a plurality of range cells from a range profile. Specifically, the range cell extracting unit 220 changes the range profile to a discrete signal by using Fourier transform on the range profile including the range information, and generates a discrete signal by using a cost function and a point spread function in the changed discrete signal, Can be extracted. Since a specific method of extracting a plurality of range cells has been described above, a detailed description will be omitted.

The representative cell setting unit 230 according to an embodiment of the present invention may set a range period in consideration of the physical size of the target from a plurality of range cells extracted from the range cell extracting unit 220, A representative cell corresponding to the aiming point can be set using a peak value indicating received power of a plurality of range cells included.

In more detail, the representative cell setting unit 230 according to an exemplary embodiment of the present invention includes a first range cell having the smallest range among the plurality of range cells extracted from the range cell extracting unit 220 and a second range having the smallest range, The corresponding interval between cells can be set to the above-described range period. The specific method of setting the range is described above, so a detailed description will be omitted.

In addition, the representative cell setting unit 230 according to an exemplary embodiment of the present invention calculates a peak value of a range cell including a range to a range of each of a plurality of range cells included in the range interval by applying Equation (6) And the representative cell having the range calculated by dividing the value obtained by summing the peak value of each of the plurality of range cells included in the range section with the fused value can be set. Since a specific method of setting the representative cell has been described above, a detailed description will be omitted.

The comparator 240 according to an embodiment of the present invention can generate azimuth difference channel signals and high-angle channel signals in a range corresponding to the representative cell set by the above-described method. The method of generating the azimuth-difference channel signal and the high-angle-difference channel signal has been described above and will be omitted.

The aiming angle extracting unit 300 according to an embodiment of the present invention can extract the aiming angle for the representative cell set by the above-described method. Specifically, the aiming angle extracting unit 300 can extract the aiming azimuth and the aiming altitude at a range corresponding to the representative cell set by the above-described method.

The aiming angle extracting unit 300 according to an embodiment of the present invention extracts the elevation angle and the azimuth angle of the representative cell by calculating the angle error by extracting the elevation angle and the azimuth angle of the representative cell. Specifically, the aiming angle extracting unit 300 may calculate an angle error in a range corresponding to the representative cell set by the above-described method, and extract the angle information about the target by reflecting the calculated angle error.

For example, the aiming angle extractor 300 according to an embodiment of the present invention may use the sum channel signal, the azimuth difference channel signal, and the high angle channel signal generated from the comparator 240, Azimuth angle and aim angle can be extracted.

Specifically, the aiming angle extractor 300 obtains a beam pattern of a sum channel signal of a plurality of channel signals, azimuth difference channel signals of a plurality of channel signals, and a high-order channel signal with respect to a range corresponding to the representative cell, The beam pattern is used to obtain the mono pulse ratio, and the angle information can be extracted in consideration of the monopulse gradient.

Hereinafter, a specific method of extracting the aiming angle will be described with reference to FIGS. 9A and 9B.

9A and 9B are views for explaining a method of calculating Bose Sight Error (BSE) according to an embodiment of the present invention.

Specifically, FIG. 9A is a graph of a sum channel signal and a difference channel signal according to angles of a monopulse type received signal. In FIG. 9A, the x-axis represents the relative angle of the antenna with respect to the target, the y-axis represents the intensity of the sum channel signal and the phasor voltage of the difference channel signal,? Represents the difference channel signal value of the received signal, .

A target aiming apparatus according to an embodiment of the present invention receives a received signal through a plurality of receiving channels using the monopulse method described above and calculates a difference between received signals from each of the plurality of receiving channels The azimuth and elevation information of the target can be obtained. That is, when the target is positioned at the center of the transmitted transmission signal, the intensity and phase of the received signal are equal to each other, but when the target is out of the center of the transmitted transmission signal, The intensity and phase of the received signal are different from each other. Therefore, the target pointing device can generate the sum channel signal and the difference channel signal using the point that the intensity and the phase of the received signal inputted to each of the plurality of receiving channels are different from each other, The azimuth error and the elevation error can be calculated using the signal.

Referring to FIG. 9B, the x-axis represents the angular error voltage ratio of the antenna relative to the target, and the y-axis represents the angular error voltage. The angular error (BSE) for the representative cell can be calculated using the following equations (7) and (8).

는 차 채널 신호의 페이저 전압,

는 합 채널 신호의 페이저 전압,

는 차 채널 신호와 합 채널 신호의 페이저 전압 비, 크기는 차 채널 신호와 합 채널 신호의 페이저 전압비의 크기,

는 합 채널 신호와 차 채널 신호의 위상각을 나타낸다.From here

Is the phasor voltage of the differential channel signal,

The phasor voltage of the sum channel signal,

The size of the phase difference between the difference channel signal and the sum channel signal,

Represents the phase angle of the sum channel signal and the difference channel signal.

The angular error according to an embodiment of the present invention can be calculated by the following equation (8).

는 각도오차(방위각 오차 또는 고각 오차) k는 모노펄스 기울기로 안테나 설계 시 정해지는 상수값이고,

는 안테나에 대한 표적의 상대각도에서 차 채널 신호 이득의 크기,

는 안테나에 대한 표적의 상대각도에서 합 채널 신호 이득의 크기를 나타낸다. 여기서, 모노펄스 기울기는 본 발명의 기술 분야에서 통상적으로 이용되는 방법에 의해 산출될 수 있으므로, 자세한 설명은 생략하기로 한다.From here

Is an angular error (azimuth error or elevation error), k is a monopulse slope,

Is the magnitude of the differential channel gain at the relative angle of the target to the antenna,

Represents the magnitude of the sum channel signal gain at the relative angle of the target to the antenna. Here, since the monopulse gradient can be calculated by a method commonly used in the technical field of the present invention, a detailed description thereof will be omitted.

The aiming angle extracting unit 300 may calculate azimuth and elevation errors corresponding to the angular errors of the range corresponding to the representative cell using Equation (8).

Referring to FIG. 4 again, the aiming angle extracting unit 300 according to an embodiment of the present invention calculates a binning angle corresponding to an aiming point estimated using the azimuth angle error and the high angle error corresponding to the angle error calculated by the above- The aiming azimuth angle and the aiming angle of the representative cell can be respectively extracted.

The target aiming device 10 according to an embodiment of the present invention can transmit the extracted aiming azimuth and aiming height information to the induction control unit for the representative cell extracted by the method described above and emits the guided missile toward the transmitted aiming angle And the target targeting procedure described above can be repeated until the missile is hit by the target.

The aiming angle extraction unit 300 included in the target aiming apparatus 10 according to another embodiment of the present invention further includes a plurality of range cells 300 included in the range section set in the signal processing unit 200 by the above- Angle information on each of the target points can be obtained, and the obtained angle information can be fused to extract the aiming angle with respect to the weak point of the target.

Specifically, the aiming angle extracting unit 300 can acquire azimuth error information and altitude error information for each of a plurality of range cells included in the range section set by the signal processing unit 200. The aim angle extracting unit 300 may obtain an azimuth error using a sum channel signal for each of a plurality of range cells included in a range section set by the signal processor 200 and a slope of a difference channel signal in an azimuth angle direction. In addition, the aiming angle extractor 300 can obtain a high angle error by using the sum channel signal for each of a plurality of range cells included in the range section set by the signal processor 200 and the slope of the difference channel signal in the high angle direction have.

The aiming angle extracting unit 300 according to another embodiment of the present invention includes (i) an azimuth error obtained for each of a plurality of range cells included in a range section set in the signal processing unit 200, and (ii) It is possible to extract the aiming azimuth angle using the peak value of the range cell including the azimuth error. In addition, the aiming angle extracting unit 300 according to an embodiment of the present invention includes (i) a high angle error obtained for each of a plurality of range cells included in a range period set in the signal processing unit 200, and (ii) It is possible to extract the aim angle using the peak value of the range cell including the high angle error.

According to another embodiment of the present invention, mi represents a peak value representing a received power of an i-th range cell according to an embodiment of the present invention, And may represent the angular error of the i-th range cell according to the embodiment. That is, xi may represent azimuth error or elevation error of the i-th range cell according to another embodiment of the present invention.

는 레인지 구간에 포함된 복수 개의 레인지 셀들 각각에 대한 각도오차 정보가 융합되어 표적 부위의 중심에 대한 각도오차(방위각 오차 또는 고각 오차) 정보로 나타낼 수도 있다.Therefore, according to another embodiment of the present invention

(Azimuth error or elevation error) information about the center of the target area by fusing the angular error information for each of the plurality of range cells included in the range section.

The aiming angle extracting unit 300 according to another embodiment of the present invention uses the centroid algorithm to obtain the aiming angle extracting unit 300 for each of a plurality of range cells included in the range section set in the signal processing unit 200 It is also possible to extract the aiming angle by fusing the angular error information.

Specifically, the aiming angle extracting unit 300 according to an embodiment of the present invention calculates (i) the aiming angle extracting unit 300 obtains (i) the aiming angle extracted from each of the plurality of range cells included in the range period set in the signal processing unit 200 (Iii) a peak value of each of a plurality of range cells included in the range period set by the signal processing unit 200 is summed up to a value obtained by multiplying the peak value of the range cell including the obtained azimuth error by the azimuth error, The azimuthal azimuth angle of the target can be extracted by reflecting the azimuth error calculated by the above method.

The aiming angle extracting unit 300 extracts the aiming angle using the equation (6) described above, (ii) the elevation angle obtained from each of the plurality of range cells included in the range period set in the signal processing unit 200, (Iii) a value obtained by dividing the sum of the peak values of each of the plurality of range cells included in the range section set in the signal processing section to calculate a single high angle error And the aiming angle of the target can be extracted by reflecting the high angle error calculated by the above method.

It should be noted, however, that the above-described exemplary embodiments are only illustrative and not intended to limit the scope of the present invention.

10 is a flowchart of a target aiming method according to an embodiment of the present invention.

The target aiming apparatus according to an embodiment of the present invention may include an antenna unit, a signal processing unit, and a aiming angle extracting unit.

Referring to FIG. 10, the antenna unit emits a signal for aiming at a target, and receives a signal in which the emitted signal is reflected on a target (S1010).

For example, the antenna unit according to an embodiment of the present invention may be applied with a monopulse technique, and may include a waveguide slot array antenna or a reflector antenna. In addition, the antenna unit according to another embodiment of the present invention may include a main reflector, a sub-reflector, and a feed horn, which can use a Cassegrain antenna with less influence of electromagnetic interference and rotate with the same rotation axis. In addition, the antenna unit according to another embodiment of the present invention may have a structure in which only the main reflector is rotated, but the present invention is not limited thereto.

The signal processing unit extracts a plurality of range cells in which the target characteristic according to the geometrical characteristics of the target is reflected, from the signal received at the antenna unit (S1020).

Specifically, the signal processing unit models the signal reflected on the target, obtains radar reflection area distribution data representing the magnitude of the reflected signal in units of areas, performs inverse Fourier transform on the obtained radar reflection area distribution data, A range profile including range information can be generated.

Also, the signal processor may change the range profile to a discrete signal by using the Fourier transform on the range profile including the range information, and extract a plurality of range cells using the cost function and the point spread function in the changed discrete signal. Specifically, the signal processor determines signal information of a plurality of range cells including peak value information and range information indicating received power of each of a plurality of range cells in a range profile, The residual power of the range profile can be calculated by removing the range profile from the range cell in order from the range cell having the largest value. The range information may represent information corresponding to a distance difference between a position of a signal radiated on a radiated signal and a target. The signal processor may determine whether to extract a plurality of range cells based on the calculated remaining power of the range profile to extract a plurality of limited range cells. Since a specific method of extracting a plurality of range cells has been described above, a detailed description will be omitted.

The signal processing unit sets a representative cell corresponding to the aiming point from a plurality of range cells extracted in consideration of the physical size of the target (S1030).

Specifically, the signal processing unit according to an embodiment of the present invention includes a first range cell having the smallest range and a second range cell having the largest range among the plurality of range cells extracted by the method described above A range of a plurality of range cells included in a set range period and a peak value of a range cell including the range described above can be used to set the representative cell.

For example, the signal processor according to an embodiment of the present invention can multiply the range of each of the plurality of range cells included in the range section by multiplying the peak value of the range cell including the range, The representative cell having the range calculated by dividing the sum of the peak values of each of the plurality of range cells included in the representative cell can be set. Since a specific method of setting the representative cell has been described above, a detailed description will be omitted.

The aiming angle extracting unit extracts the aiming angle for the set representative cell (S1040).

The aiming angle extracting unit according to an embodiment of the present invention can extract the aiming azimuth angle and the aiming height angle with respect to the range corresponding to the representative cell set by the method described above. Specifically, the aiming angle extracting unit according to an embodiment of the present invention can extract the aiming azimuth angle and the aiming altitude angle for the representative cell using the azimuth error and the elevation angle error. Since the specific method of extracting the above-mentioned aiming angle has been described above, a detailed explanation will be omitted.

Figure 11 is a flow chart of a specific method of targeting a target according to another embodiment of the present invention.

In accordance with another embodiment of the present invention, the process of hitting a target with a target aiming at a target using a target aiming device is started.

A target aiming apparatus according to another embodiment of the present invention includes an antenna unit, a signal processing unit and a aiming angle extracting unit, and the signal processing unit includes a comparator, a filter unit, a range profile generating unit, a range cell extracting unit, can do.

The operation of the airborne radar equipped with the target aiming device is started (S1110).

The antenna unit transmits a radar signal to aim the target (S1120), and the transmitted signal is reflected on the target and receives the sum channel signal from the plurality of channels (S1121). Specifically, the antenna unit according to an embodiment of the present invention receives a signal reflected from a target through a plurality of channels, and the comparator included in the signal processing unit generates a sum channel signal through a plurality of signals received by the antenna unit .

The comparator according to an embodiment of the present invention may apply a weight to a plurality of channel signals received by the antenna unit and may generate a sum channel signal by summing a plurality of weighted channel signals. The detailed method of generating and receiving the sum channel signal has been described above, so a detailed description will be omitted.

The filter unit receives the received sum channel signal, filters the sum channel signal by matching the frequency of the sum channel signal to maximize the signal-to-noise ratio of the sum channel signal (S1130).

The matched filtering process is a process of separating the target signal from the interference noise, and the matched filter represents a filter that optimizes the signal-to-noise ratio. In particular, applying a matched filter can be represented as a process of convoluting the received signal with the replicated form of the transmitted waveform. For example, the filter unit inverts the sum channel signal generated in the comparator and the signal radiated as a target in the antenna unit on the time axis, convulse the impulse response in which the inverted signal is delayed by a predetermined time, . Since the signal-to-noise ratio (SNR) of the sum channel signal is maximized at the sampling instant, the above-mentioned matched filtering process can emphasize the required signal and suppress the noise.

The range profile generation unit models the matched filtered signal in the filter unit, obtains radar reflection area distribution data showing the size of the matched filtered signal in units of areas, performs inverse Fourier transform on the obtained radar reflection area distribution, (S1140). ≪ / RTI > The range profile according to an embodiment of the present invention may be a high resolution range profile (HRRP).

The range cell extracting unit extracts the range cell from the generated range profile (S1150). Specifically, the range cell extracting unit may change the range profile to a discrete signal by using Fourier transform on the range profile including the range information, and extract a plurality of range cells using the cost function and the point spread function in the changed discrete signal have.

The ranging cell extracting unit according to an embodiment of the present invention may include a range cell signal information determination unit, a residual power calculation unit, and a range cell extraction determination unit.

The range cell signal information determination unit may determine signal information of a plurality of range cells including peak value information and range information indicating received power of each of a plurality of range cells in a range profile including range information.

The residual power calculation unit may calculate the residual power of the range profile while removing the range information from the range profile in order from the range cell having the largest peak value among the plurality of range cells in which the signal information is determined in the range cell signal information determination unit.

The range cell extraction determination unit may determine whether to extract a plurality of range cells based on the residual power of the range profile calculated by the remaining power calculation unit. Specifically, the range cell extracting and deciding unit stops the removal of the range cell in a period in which the residual power change amount of the range profile calculated by the residual power calculating unit changes, and removes the range cell immediately before the interval in which the variation amount of the residual power changes from the range cell having the largest peak value It is possible to determine whether or not to extract a plurality of range cells.

Since a specific method of extracting the range cell has been described above, a detailed description thereof will be omitted.

The representative cell setting unit sets the range period in consideration of the physical size of the target from the plurality of range cells extracted by the range cell extracting unit (S1160). Specifically, the representative cell setting unit according to an exemplary embodiment of the present invention sets a corresponding interval between a first range cell having the smallest range and a second range cell having the largest range among the plurality of extracted range cells, . The specific method of setting the range is described above, so a detailed description will be omitted.

The representative cell setting unit sets a representative cell corresponding to the aiming point using a peak value indicating received power of a plurality of range cells included in the set range period to predict an aiming point (S1170).

Specifically, the representative cell setting unit according to an exemplary embodiment of the present invention estimates the center of a target region from a plurality of range cells included in a range period by applying a Centroid algorithm for obtaining a center of gravity of a general object, It is possible to set a representative cell corresponding to the range which is the center of the cell. Since the specific method of setting the representative cell has been described above, a detailed description will be omitted.

The aiming angle extracting unit extracts a high angle and an azimuth corresponding to the aiming angle with respect to the predicted aiming point (S1171, S1172).

Specifically, the target aiming apparatus according to an embodiment of the present invention calculates a sum channel signal, an azimuth difference channel signal, and a high angle channel signal for a plurality of channel signals from range information for a representative cell corresponding to a predicted aiming point And azimuth error can be extracted from the calculated sum channel signal and azimuth difference channel signal. Also, the target aiming apparatus according to an embodiment of the present invention can extract a high angle error from the calculated sum channel signal and high angle channel signal. The target aiming device can extract the aiming azimuth using the extracted azimuth error and extract the aiming altitude using the extracted elevation error. The specific method of extracting the aiming azimuth angle and the aiming angle is described above, so a detailed description will be omitted.

The target aiming device transmits angular information about the elevation angle and the azimuth angle to the representative cell extracted by the above-described method to the induction control unit (S1180).

The target aiming device can strike the target by launching a guided missile toward the elevation angle and azimuth of the representative cell of the target transmitted to the induction control unit (S1190). The target aiming device according to an embodiment of the present invention can repeat the target aiming procedure described above until the missile is hit by the target.

The target aiming apparatus according to an embodiment of the present invention can detect a peak value corresponding to a weak region of an actual target according to a jerk angle between a radar and a target, The range cell corresponding to the weak region is estimated using all the information of the target region, so that the angle used by the induction control unit is substantially determined using the information of the plurality of range cells having the target component instead of the angle information about the peak signal of the simple target. Can be extracted. Accordingly, the target aiming device according to an embodiment of the present invention is robust against the characteristic of the range profile varying according to the jerk angle, has a robust effect on the noise, and can hit the turret of the actual target.

All or part of the method of an embodiment of the present invention described above can be implemented in the form of a computer-executable recording medium (or a computer program product) such as a program module executed by a computer. Here, the computer-readable medium may include computer storage media (e.g., memory, hard disk, magnetic / optical media or solid-state drives). Computer readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media.

Also, all or part of the method according to one embodiment of the present invention may include instructions executable by a computer, the computer program comprising programmable machine instructions to be processed by a processor, the high-level programming language A programming language, an object-oriented programming language, an assembly language, or a machine language.

Means or module in the present specification may mean hardware capable of performing the functions and operations according to the respective names described herein and may be implemented by computer program code , Or may refer to an electronic recording medium, e.g., a processor or a microprocessor, having computer program code embodied thereon to perform particular functions and operations. In other words, a means or module may mean a functional and / or structural combination of hardware for carrying out the technical idea of the present invention and / or software for driving the hardware.

Thus, a method according to an embodiment of the present invention may be implemented by a computer program as described above being executed by a computing device. The computing device may include a processor, a memory, a storage device, a high-speed interface connected to the memory and a high-speed expansion port, and a low-speed interface connected to the low-speed bus and the storage device. Each of these components is connected to each other using a variety of buses and can be mounted on a common motherboard or mounted in any other suitable manner.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

10: Target Aiming Device
100:
200: Signal processor
300: aiming angle extracting unit

Claims (13)

An antenna unit for emitting a signal for aiming at a target and for receiving the signal, wherein the emitted signal is reflected on the target;
Extracting a plurality of range cells reflecting characteristics of the target according to the geometrical characteristics of the target from the received signal and extracting a representative cell corresponding to the aiming point from the extracted plurality of range cells in consideration of the physical size of the target A signal processing unit for setting the signal processing unit; And
And a sighting angle extracting unit for extracting a sighting angle for the set representative cell,
Wherein the signal processing unit obtains radar reflection area distribution data indicating the magnitude of a signal reflected on the target in units of areas and performs inverse Fourier transform on the obtained radar reflection area distribution data, A range profile generator for generating a range profile including information on a range corresponding to a distance difference between the targets; A range cell extracting unit for extracting a plurality of range cells from the range profile; And setting a range period in consideration of the physical size of the target from the extracted plurality of range cells and setting the representative cell using a peak value indicating a received power of a plurality of range cells included in the set range period And a representative cell setting unit for setting a representative cell of the target cell. delete The method according to claim 1,
The range cell extracting unit extracts,
A range cell signal information determination unit for determining signal information of the plurality of range cells including information on the peak value and the range of each of the plurality of range cells in the range profile;
A residual power calculator for calculating a residual power of the range profile while eliminating the range profile from the range profile in order from the range cell having the largest peak value among the plurality of range cells in which the signal information is determined; And
And a range cell extraction determining unit determining whether to extract the plurality of range cells based on the calculated remaining power of the range profile. The method of claim 3,
Wherein the representative-
And sets a range corresponding to a range between a first range cell having the smallest range and a second range cell having the largest range among the extracted plurality of range cells as the range period. 5. The method of claim 4,
Wherein the representative-
wherein the representative cell setting unit sets the representative cell using (i) a range of a plurality of range cells included in the range period, and (ii) a peak value of a range cell including the range. 6. The method of claim 5,
Wherein the representative-
Wherein a range value of each of a plurality of range cells included in the range period is multiplied by a peak value of a range cell including the range to be fused and a peak value of each of a plurality of range cells included in the range period is multiplied by the fused value, And sets the representative cell having the calculated range by dividing the summed value. The method of claim 3,
Wherein the range cell extraction determination unit comprises:
The removal of the range cell is stopped in a period in which the residual power variation of the calculated range profile changes, and range cells removed immediately before the interval where the variation amount of the residual power varies from the range cell having the largest peak value are extracted A target aiming device. The method of claim 3,
Wherein the antenna unit receives a plurality of channel signals from the target,
The signal processing unit,
A comparator for generating a sum channel signal through a plurality of channel signals received by the antenna unit; And
And a filter unit for matched the frequency of the sum channel signal so as to maximize a signal-to-noise ratio (SNR) of the generated sum channel signal and filtering the generated sum channel signal,
And extracts a plurality of range cells in which the characteristics of the target are reflected from the filtered sum channel signal according to the geometrical characteristics of the target. Emitting a signal to aim the target, and receiving the reflected signal on the target;
Extracting from the received signal a plurality of range cells reflecting characteristics of the target according to the geometrical characteristics of the target;
Setting a representative cell corresponding to the aiming point from the plurality of extracted range cells in consideration of the physical size of the target; And
And extracting a sighting angle for the set representative cell,
Wherein the extracting of the plurality of range cells comprises: obtaining radar reflection area distribution data representing a magnitude of a signal reflected on the target in units of areas; And generating a range profile including inverse Fourier transform the obtained radar reflection area distribution data and including information on a range corresponding to a distance difference between a position of the radiated signal and a distance between the target and the radiated signal; Extracting a plurality of range cells from the generated range profile,
Wherein the setting of the representative cell comprises setting a range period in consideration of a physical size of the target from the extracted plurality of range cells, and setting a range period of the plurality of range cells included in the set range period, And the representative cell is set using the value of the representative cell. delete 10. The method of claim 9,
The step of setting the range includes:
And setting a range corresponding to a range between a first range cell having the smallest range and a second range cell having the largest range among the extracted plurality of range cells as the range period. 12. The method of claim 11,
The step of setting the representative cell includes:
wherein the representative cell is set using (i) a range of a plurality of range cells included in the range period, and (ii) a peak value of a range cell including the range. A program recorded on a computer-readable recording medium for realizing the target-aiming method according to any one of claims 9, 11 and 12 through being executed by a processor.

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