KR101989525B1 - Two-axes gimbaled rf seeker and mehtod for estimating guidance filter model - Google Patents

Abstract

The present specification relates to a two-axis gimbal-type search device wherein a definition of a gimbal search device coordinate system and a relative position/relative velocity vector based on the same are defined as state variables to derive a measurement model relationship therefor, and also, a motion equation model for designing an induction filter is calculated by calculating a state equation for a time propagation of the relative position and the relative velocity vector defined on the basis of the gimbal search device coordinate system, and a method for calculating the induction filter model thereof.

Description

{TWO-AXES GIMBALED RF SEEKER AND MEHTOD FOR ESTIMATING GUIDANCE FILTER MODEL}

More particularly, the present invention relates to a two-axis gimbal type searcher and a method of calculating a derivative filter model of the two-axis gimbal type searcher based on a target signal of a two- A two-axis jig type searcher and an induction filter model calculation method therefor.

The background art of the present invention relates to a calculation method of an inductive filter model for relative geometry estimation based on a two-axis Kimbo type RF searcher.

Before the method of calculating the inductive filter model of the present invention is proposed, most of the inductive filters for estimating the relative geometry information based on the two-axis gimbal RF searcher use the relative position / relative velocity vectors between the inertial coordinate reference target- And it is implemented by defining the measurement angle model as the gaze angle / relative distance / approach velocity between the target and the aircraft based on the inertial coordinate system. In this case, the inertial axis line angle is calculated by using the Boresight Error of the searcher and the information about the attitude of the navigation system and the inertial navigation system, and then applied to the measurement update algorithm of the inductive filter.

However, in such a method, when there is a bias error that gradually increases with time in the navigation attitude information, a bias error occurs in the inertia axis line angle that is calculated at the same time, There is a problem that a bias error occurs. Therefore, the necessity of the design of the inductive filter model to estimate the relative geometry information between the target and the aviation has been raised while eliminating the bias error of the navigation attitude information.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above problems, and it is an object of the present invention to provide a two-axis gimbal-type searcher for precisely estimating relative geometry information between target and flight objects while eliminating estimation error caused by bias error of navigation attitude information, We propose a derivation method of the induction filter model of axis jig type explorer.

In order to solve the above-described problems, a method for calculating an inductive filter model of a 2-axis gimbal type searcher and a 2-axis gimbal type searcher disclosed in the present specification is a method for calculating an inductive filter model of a 2-axis gimbal type searcher, And the state equations for the time propagation of the relative position and relative velocity vector defined on the basis of the Gimhae explorer coordinate system are calculated to calculate the motion equation model for the inductive filter design As a solution to the problem.

A two-axis gimbal type searcher disclosed in the present specification is a two-axis gimbal type searcher for searching a target to be searched. A search signal is radiated on the target, and a reflected signal A sensing unit for sensing the geometry information of the searcher, and a controller for controlling the searching unit, the driving unit, and the sensing unit, and the reception result of the reflection signal and the geometry information And a control unit for calculating an inductive filter model including at least one of a measurement value model and a state equation model for the target based on the target coordinate system and the control unit, And calculates the inductive filter model according to the set search coordinate system.

In one embodiment, the control unit may control the driving unit so that the search unit maintains the orientation with respect to the target when calculating the inductive filter model.

In one embodiment, the control unit determines the relative position and the relative speed with respect to the target according to the search coordinate system, and calculates the inductive filter model based on the reception result and the geometric information according to the relative position and the relative speed. Can be calculated.

In one embodiment, the control unit analyzes the reception result according to the relative position and the relative speed to calculate a relative distance, an approaching speed and a visual axis error between the searcher and the target, and calculates the relative distance, The measurement model can be calculated based on the error.

In one embodiment, the control unit may calculate the time rate of change of the relative position and the relative speed from the relative position and the relative speed, and calculate the state equation model based on the time rate of change and the geometry information.

The method of calculating an induction filter model of a two-axis gimbal type searcher disclosed in the present specification is characterized by selecting a target to be searched, directing the target, setting a search coordinate system of the searcher, Sensing the geometry information of the searcher, radiating a search signal to the target, receiving a reflected signal reflected from the target, and determining a relative position and a relative velocity based on the relative position and relative velocity, And analyzing the reception result of the reflection signal to calculate at least one of a measurement value model and a state equation model for the target.

In one embodiment, the orientation to the target can be maintained from the directing step to the calculating step.

In one embodiment, the calculating step may include calculating a relative distance, an approaching speed, and a viewing error between the searcher and the target by analyzing the reception result according to the relative position and the relative speed, And the gaze error can be calculated.

In one embodiment, the calculating step may calculate the time rate of change of the relative position and the relative velocity from the relative position and the relative velocity, and calculate the state equation model based on the time rate of change and the geometry information have.

The two-axis jig type searcher and its inductive filter model calculation method proposed in the present specification having the technical features described above are based on a rectangular coordinate system fixed on a two-axis gimbal system, and a relative position and a relative velocity vector between the target- And the state equation for the time propagation of the state variable is calculated by using the defined state variable and the measurement model that defines the target signal of the RF searcher as the measurement value.

The method of calculating the inductive filter model of the biaxial jig type seeker disclosed in the present specification can reduce the estimation error caused by the bias error of the navigation attitude information while simultaneously reducing the relative error between the precise target- It is possible to estimate the information.

This makes it possible to perform accurate humming induction to a target and also to be applied to a similar flight / unmanned system equipped with a two-axis jig type searcher.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing the configuration of a two-axis gimbal type searcher disclosed in the present specification; FIG.
2 is a flowchart showing a procedure of a calculation method of an inductive filter model of the biaxial jig type searcher disclosed in this specification;
3 is a diagram illustrating a concept of calculating an inductive filter model according to a specific application example of a biaxial jig type searcher and its inductive filter model calculation method disclosed in the present specification.

The present invention relates to a method of calculating a two-axis jig type searcher and an inductive filter model thereof, and can be applied to a calculation method of an inductive filter model for relative geometry estimation based on a two-axis Kimbo type RF searcher, or a searcher and a search system using the same . However, the technology disclosed in the present specification is not limited thereto, and can be applied to all the search devices, the search system, the search method, and the guidance filter model calculation method to which the technical idea of the technology can be applied.

It is noted that the technical terms used herein are used only to describe specific embodiments and are not intended to limit the scope of the technology disclosed herein. Also, the technical terms used herein should be interpreted as being generally understood by those skilled in the art to which the presently disclosed subject matter belongs, unless the context clearly dictates otherwise in this specification, Should not be construed in a broader sense, or interpreted in an oversimplified sense. In addition, when a technical term used in this specification is an erroneous technical term that does not accurately express the concept of the technology disclosed in this specification, it should be understood that technical terms which can be understood by a person skilled in the art are replaced. Also, the general terms used in the present specification should be interpreted in accordance with the predefined or prior context, and should not be construed as being excessively reduced in meaning.

Also, the singular forms "as used herein include plural referents unless the context clearly dictates otherwise. In this specification, the terms "comprising ", or" comprising "and the like should not be construed as necessarily including the various elements or steps described in the specification, Or may be further comprised of additional components or steps.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals denote like or similar elements, and redundant description thereof will be omitted.

Further, in the description of the technology disclosed in this specification, a detailed description of related arts will be omitted if it is determined that the gist of the technology disclosed in this specification may be obscured. It is to be noted that the attached drawings are only for the purpose of easily understanding the concept of the technology disclosed in the present specification, and should not be construed as limiting the spirit of the technology by the attached drawings.

First, the configuration of a biaxial jig type searcher and its inductive filter model calculation method disclosed in this specification will be described.

The configuration of the biaxial jig type searcher and its inductive filter model calculation method disclosed in the present specification is a premise of the inductive filter model calculation method proposed by the present invention and can be configured with a biaxial gyration system.

The two-axis gimbal type searcher (hereinafter referred to as a searcher) disclosed in this specification refers to a two-axis gimbal type searcher that searches for a search target.

1, the searcher 100 includes a search unit 10, a drive unit 20, a sensing unit 30, and a control unit 40. [

The searching unit 10, the driving unit 20, the sensing unit 30, and the control unit 40 refer to components constituting the Kim system of the searcher 100.

The Gimgal system may be composed of an external gimbal that rotates in the Z axis direction (lateral direction) of the aircraft body and an internal gimbal that rotates in the longitudinal direction of the external gimbal.

The search unit 10 emits a search signal to the target 200 and receives a reflected signal reflected from the target 200.

The driving unit 20 adjusts the direction of the search unit 10.

The sensing unit 30 senses the geometry information of the searcher 100.

The control unit 40 controls the search unit 10, the driving unit 20 and the sensing unit 30 and controls the driving unit 20 and the sensing unit 30 based on the reception result of the reflection signal and the geometry information, An inductive filter model including at least one of a measurement model and a state equation model is calculated.

Here, the control unit 40 may perform tracking / stabilization control for reducing the gaze error of the target 200 in the searcher 100.

For example, the driving unit 20 may be controlled such that the search unit 10 maintains the orientation with respect to the target 200.

The searcher 100 controls the driving unit 20 so that the search unit 10 directs the target 200 when the target 200 is searched for, When the sensing unit 30 senses the geometry information of the searcher 100, the control unit 40 (40) senses the geometry information of the searcher (100) May calculate the inductive filter model for the target 200 based on the reception result and the geometric information.

In the searcher 100 including the search unit 10, the driving unit 20, the sensing unit 30 and the control unit 40, the control unit 40 determines whether the target 200 The navigation coordinate system is set while maintaining the orientation, and the inductive filter model is calculated according to the set navigation coordinate system.

The control unit 40 may control the driving unit 20 to maintain the orientation of the search unit 10 with respect to the target 200 when calculating the inductive filter model.

That is, in the case of calculating the inductive filter model, the search unit 10 maintains the orientation with respect to the target 200, and the control unit 40 determines that the search unit 10 searches for the target 200, The driving unit 20 may be controlled so as to maintain the orientation of the target 200, and the induction filter model may be calculated while the orientation of the target 200 is maintained.

In this way, the control unit controls the orientation of the target 200 to be maintained, thereby setting the search coordinate system in a state in which the orientation of the target 200 is maintained so that the error of the search coordinate system And fluctuation can be prevented.

That is, the searcher 100 sets the search coordinate system while maintaining the orientation for the target 200, calculates the inductive filter model according to the set search coordinate system, The calculation of the inductive filter model can be performed.

The control unit 40 determines a relative position and a relative speed with respect to the target 200 according to the search coordinate system and determines the position of the target 200 based on the reception result and the geometry information, Can be calculated.

That is, the control unit 40 determines the relative position and the relative speed with respect to the target 200 according to the search coordinate system set while maintaining the orientation with respect to the target 200, The measurement model or the state equation model may be calculated based on the reception result and the geometry information.

The control unit 40 analyzes the reception result according to the relative position and the relative speed to calculate a relative distance, an approaching speed and a visual axis error between the searcher and the target, and calculates the relative distance, the approaching speed, It is possible to calculate the above measured value model.

Further, the control unit 40 may calculate the time rate of change of the relative position and the relative speed from the relative position and the relative speed, and calculate the state equation model based on the time rate of change and the geometry information.

The process of calculating the inductive filter model of the searcher 100 having the above-described configuration can be performed in the order of the calculation method of the inductive filter model of the biaxial jig type searcher disclosed in this specification.

The derivation filter model calculation method (hereinafter referred to as a calculation method) of the biaxial jig type searcher disclosed in the present specification selects the search target 200 as shown in Fig. 2, and directs the target 200 (S20) of setting a search coordinate system of the searcher 100 to determine a relative position and a relative speed with respect to the target 200 according to the search coordinate system (S20) (S30) of sensing the information (S30), emitting a search signal to the target (200) and receiving a reflected signal reflected from the target (200) And analyzing the reception result of the signal to calculate at least one of a measurement model and a state equation model for the target 200 (S50).

The calculation method can maintain the orientation for the target 200 from the aimed step S10 to the calculating step S50.

The calculating step S50 may calculate the relative distance, the approaching speed and the gaze error between the searcher 100 and the target 200 by analyzing the reception result according to the relative position and the relative speed.

The calculating step S50 may include analyzing the reception result according to the relative position and the relative speed to calculate a relative distance, an approaching speed and a gaze error between the searcher 100 and the target 200, , The measured value model can be calculated based on the approach speed and the gaze error.

The calculating step (S50) can calculate the time change rate of each of the relative position and the large velocity from the relative position and the relative velocity.

The calculating step (S50) may calculate the time rate of change of the relative position and the relative velocity from the relative position and the relative velocity, and calculate the state equation model based on the time rate of change and the geometry information.

Hereinafter, a specific calculation example of the induction filter model calculation method of the biaxial jig type seeker and the biaxial jig type seeker constructed as described above will be described.

Calculation of measurement model

), 접근속도(

), 그리고 종/횡방향의 시선오차(Boresight Error,

)를 산출하고, 상기 제어부(40)는, 상기 탐색기(100)의 상기 탐색부(10)가 표적(200) 시선방향을 지속적으로 지향하도록 추적/안정화 루프 제어를 실시한다. 도 2와 같이 상기 탐색부(10)의 지향방향을 X축으로 하는 탐색기 좌표계(

)를 정의하고, 이 좌표계를 기준으로 표현한 표적-비행체간의 상대위치(

) 및 상대속도(

) 벡터를 이용하여 상기 탐색기(100)의 표적신호에 대한 비선형 측정 방정식을 다음과 같이 도출할 수 있다.The searcher 100 may determine the relative distance to the target 200 through the RF pulse signal reflected from the target 200

), Access speed (

), And Boresight Error in longitudinal /

And the control unit 40 performs tracking / stabilization loop control so that the search unit 10 of the searcher 100 continuously directs the direction of the target 200. As shown in FIG. 2, the X-axis direction of the search unit 10 is an explorer coordinate system

), And the relative position between the target and flight objects expressed on the basis of this coordinate system

) And relative speed (

) Vector, the nonlinear measurement equation for the target signal of the searcher 100 can be derived as follows.

(1)

(One)

는 측정치 벡터이고,

의 상태변수 벡터이며,

인 탐색기(100)의 상대거리/접근속도/시선오차 측정치에 대한 측정 잡음을 의미한다. here

Is a measurement vector,

Is a state variable vector of < RTI ID =

Means the measurement noise for the relative distance / approach speed / gaze error measurement of the searcher 100.

State equation model

)를 기준으로 표현한 임의의 벡터의 시간변화율에 대해 다음 관계식처럼, 관성 좌표계(

) 기준의 벡터의 시간변화율(

)은 회전 좌표계 기준의 시간변화율(

)과 회전 좌표계의 회전 각속도(

)에 의해 발생되는 시간변화율(

)의 합으로 일반적으로 표현할 수 있다.Rotational coordinate system (

), As shown in the following relational expression for the time rate of change of an arbitrary vector represented by the inertial coordinate system (

) Time rate of change of vector of reference (

) Is the time rate of change based on the rotational coordinate system

) And the rotational angular velocity of the rotating coordinate system

) ≪ / RTI >

). ≪ / RTI >

(2)

(2)

) 및 상대속도(

)의 시간변화율 관계식을 유도하면 다음과 같다.Using these relational expressions, the relative position of the navigator coordinate system defined by the state variables (

) And relative speed (

) Is derived as follows.

(3)

(3)

(4)

(4)

는 관성 좌표계에 대한 탐색기 좌표계의 회전 각속도를 의미하며,

는 벡터간의 외적을 말한다. 또한

는 탐색기 좌표계 기준으로 표현된 상대가속도 벡터로서 표적 가속도(

)와 비행체 가속도(

)의 차,

로 나타내어진다. here,

Means the rotational angular velocity of the navigator coordinate system with respect to the inertial coordinate system,

Refers to the outer product between vectors. Also

Is the relative acceleration vector expressed on the basis of the explorer coordinate system as the target acceleration (

) And flight acceleration (

) Car,

Lt; / RTI >

를 영평균의 공정잡음(

)으로 설정하고, 식 (3)과 식 (4)를 기반으로 상태변수 벡터의 시간 전파를 위한 상태방정식을 유도하면 다음과 같다. Target acceleration through the assumption of the target model of the constant velocity motion

Is the average of the process noise (

), And the state equations for time propagation of the state variable vector are derived based on Eqs. (3) and (4) as follows.

(5)

(5)

과

은 각각

의 영행렬과 항등행렬(Identity Matrix)을 의미하며,

는 김발 탐색기 회전 각속도의 외적행렬로서 here,

and

Respectively

(Identity Matrix) of the matrix,

Is the outer matrix of the angular velocity

(6)

(6)

Respectively.

)를 측정하는 자이로 센서가 상기 센서부(30)에 구비되어 있으며, 비행체 동체(

)에 장착된 관성센서(Inertial Measurement Unit)의 각속도(

)와 가속도(

), 그리고 김발각(

) 측정치를 통해, 상기 탐색부(10)의 축방향(탐색기 좌표계의

축) 회전 각속도(

) 및 탐색기 좌표계 기준의 비행체 가속도(

)를 다음과 같이 구할 수 있다.The searcher 100 searches for a longitudinal / transverse rotational angular velocity (hereinafter referred to as " longitudinal / lateral rotational angular velocity "

The sensor unit 30 is provided with a gyro sensor for measuring a gyro sensor

The angular velocity of the inertial measurement unit

) And acceleration (

), And Kim Seung-ki

) Of the search unit 10 (i.e., in the direction of the searcher coordinate system

Axis) rotation angular velocity (

) And navigator coordinate system based flight acceleration (

) Can be obtained as follows.

(7)

(7)

(8)

(8)

는 비행체 동체축(

)에서 탐색기 좌표계(

)로 변환하기 위한 종/횡방향의 좌표변환 행렬을 의미한다.here

(A)

) To the navigator coordinate system (

) In the longitudinal / transverse direction.

   As can be seen from the above equations (1) and (5) to (8), the measurement / state equation model of the 2-axis jig type searcher and its inductive filter model calculation method of the present invention does not use navigation attitude information at all The relative geometry information can be precisely estimated irrespective of the bias error included in the navigation attitude information.

It will be apparent to those skilled in the art that various modifications and changes can be made in the present invention without departing from the spirit or scope of the present invention as defined by the appended claims. It will be appreciated that such modifications and variations are intended to fall within the scope of the following claims.

]: 비행체 동체좌표계
[

]: 탐색기 좌표계10: Search section 20:
30: sensing unit 40:
100: 2-axis jig type explorer
TARGET: Target SEEKER: Explorer
[

]: Aircraft body coordinate system
[

]: Explorer coordinate system

Claims (3)

A method for calculating an inductive filter model of a biaxial jig type explorer,
Selecting a target to be searched and aiming the target;
Setting a search coordinate system of the searcher to determine a relative position and a relative speed with respect to the target according to the search coordinate system;
Sensing geometry information of the searcher;
Radiating a search signal to the target, and receiving a reflected signal reflected from the target; And
And analyzing the reception result of the reflection signal based on the relative position and the relative speed to calculate at least one of a measurement value model and a state equation model for the target,
Wherein the calculating step comprises:
Calculating a relative distance, an approaching speed, and a line of sight error between the searcher and the target by analyzing the reception result according to the relative position and the relative speed, calculating the measurement model based on the relative distance, And calculating an inductive filter model of the two-axis gimbal type searcher. delete The method according to claim 1,
Wherein the calculating step comprises:
Calculating a time rate of change of the relative position and the relative velocity from the relative position and the relative velocity, and calculating the state equation model based on the time rate of change and the geometry information, Model calculation method.

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