KR102252186B1 - Apparatus for target selection of guided air vehicle - Google Patents

Abstract

The present invention relates to an apparatus for selecting a target of a guided vehicle, and more particularly, a detection unit for detecting a target identified through a detection window; An allocation unit that allocates a number to each of at least one or more targets; A selection unit that randomly selects any one target to be hit from among at least one target to which a number is assigned; And a control unit that detects targets identified through the detection window, assigns a number to each, and controls to select and strike any one target to be hit from among at least one target to which the number is assigned.

Description

Target selection device of guided vehicle {APPARATUS FOR TARGET SELECTION OF GUIDED AIR VEHICLE}

The present invention relates to an apparatus for selecting a target of a guided vehicle, and more particularly, a guided vehicle for selecting and attacking a target to be hit among a plurality of vehicles through a simple and preset algorithm that can increase the attack success rate. It relates to a target selection device.

A missile is a weapon that has a device that is guided by a specific method until it reaches a target, etymologically, it means a flying weapon such as javelin, arrow, or gun, but now it means an aircraft with propulsive power. In general, it is limited to rockets for military purposes carrying warheads.

In order to accurately send a guided missile from the launch point to the target, the guidance method of acquiring and processing information on the guided missile and the target and calculating and transmitting the guidance command varies depending on the purpose of use of the guided weapon system, operational concept, and required performance. These guidance methods are largely classified into command guidance, homing guidance, and navigational guidance.

Recently, according to the high performance and low cost of optical/electronic/computer and image tracking technology, a method of guiding guided missiles by attaching a seeker to a warhead is rapidly increasing. The searcher of the guided missile tracks the target through video tracking in the final guidance stage to enable accurate hitting.

For example, by sensing the heat emitted from the communication or exhaust port of a target such as a fighter jet or a warship, it induces a guided bullet into a target. Examples of such an image searcher include an infrared searcher (InfraRed seeker, IR seeker), and an infrared image searcher (Imaging InfraRed seeker, IIR seeker).

However, in order to further increase the accuracy of targets under various backgrounds, the target must be tracked by measuring it as an image rather than a spot. When tracking a target by using an image, the target's unique shape or spectral characteristics are used, and targets can be identified or hit points can be selected more quickly and conveniently than other methods.

After detecting or identifying a target, the infrared detector selects and strikes a target that has passed a certain standard unless an operator intervenes and designates the target when there are multiple targets. For example, the infrared detector may be applied with an algorithm that selects a target that appears to be the most stepped on, that is, has the highest temperature, among targets. At this time, it may be efficient when the number of guided vehicles and targets is small, but when the number of guided vehicles and targets exceeds tens of each, the overall hitting effect is achieved by simply selecting and hitting the brightest or brightest target within a certain range. There is a problem that is significantly lowered. For example, if 10 guided vehicles attack 10 targets, if an algorithm that selects the brightest visible target is applied, all 10 guided vehicles can hit the same target, resulting in very low hitting efficiency. .

Therefore, when multiple guided vehicles hit multiple targets at the same time (e.g., when North Korea's long-range cannons fly several hundred or more at the same time, intercepting more than the same number of intercepting guided missiles for interception, or multiple attack drones In the case of intercepting with multiple intercepting drones, etc.), a guided vehicle attempts to strike among a number of aircraft by applying a simple algorithm that can be operated in an oblivion method after launching from the central control center without the need to exchange information between guided vehicles. It is necessary to develop a technology to select targets and attack them with a high success rate.

Therefore, the present invention has been proposed to solve the above-described problem, and a number of guided vehicles are applied by applying a simple algorithm that can be operated in a forgetful manner after launching from the central control center without the need to exchange information between guided vehicles. It is to provide a target selection device for guided vehicles that selects targets to be hit among the aircraft and allows them to attack with a high success rate.

The object of the present invention is not limited to those mentioned above, and other objects not mentioned will be clearly understood by those of ordinary skill in the art from the following description.

A target selection device for a guided vehicle according to the present invention for achieving the above object includes: a detection unit for detecting a target identified through a detection window; An allocation unit that allocates a number to each of at least one or more targets; A selection unit that randomly selects any one target to be hit from among at least one target to which a number is assigned; And a control unit that detects targets identified through the detection window, assigns a number to each, and controls to select and strike any one target to be hit from among at least one target to which the number is assigned.

In addition, the target selection device of the guided vehicle according to the present invention randomly selects any one target to be hit from among at least one or more targets identified through the detection window.

According to the present invention, by applying a simple algorithm that can be operated in an oblivion method after launching from the central control center without the need to exchange information between guided vehicles, the guided vehicle selects a target to strike among a number of vehicles, with a high success rate. Make it possible to attack.

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

1 is a conceptual diagram illustrating a case where a plurality of guided vehicles strike a plurality of targets.
2A is a diagram illustrating an example of a detection window for the same target group of two guided vehicles according to an embodiment of the present invention.
FIG. 2B is a diagram illustrating an example of assignment of numbers to targets in each guided vehicle in the case of FIG. 2A(b).
3 is a block diagram illustrating an apparatus for selecting a target of a guided vehicle according to an embodiment of the present invention.
4 is a flowchart illustrating a method of selecting a target for a guided vehicle according to an embodiment of the present invention.
5A to 5C are diagrams for showing simulation results based on the guided vehicle according to an embodiment of the present invention.

Objects and effects of the present invention, and technical configurations for achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. In describing the present invention, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, terms to be described later are terms defined in consideration of the technology in the present invention, which may vary according to the intention or custom of users or operators.

However, the present invention is not limited to the embodiments disclosed below, and may be implemented in various different forms. The present embodiments are provided only to make the disclosure of the present invention complete, and to fully inform the scope of the invention to those skilled in the art to which the present invention pertains, and the present invention is defined by the scope of the claims. It just becomes. Therefore, the definition should be made based on the contents throughout the present specification.

On the other hand, throughout the specification, when a part is said to be "connected" with another part, it is not only "directly connected", but also "indirectly connected" with another member interposed therebetween. Includes. In addition, when a part "includes" a certain component, this means that other components may be further provided, not excluding other components, unless specifically stated to the contrary.

In the present invention, a guided vehicle assigns a number to each of at least one or more targets that satisfy a certain condition, and randomly selects and strikes any one of the targets based on a discrete uniform distribution.

Hereinafter, a method and apparatus for selecting a target of a guided vehicle according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a conceptual diagram illustrating a case where a plurality of guided vehicles strike a plurality of targets, and shows a case where M guided vehicles attack N targets. Here, M and N are integers of 1 or more.

These M guided vehicles can be launched at the same time, or each can be launched at a slight time interval. These M guided vehicles start detection when they reach a certain point, for example position B.

At this time, the guided vehicle will fly in the expected trajectory at launch, but due to factors such as navigation errors, sensor errors, and wind disturbances, it does not accurately match the expected trajectory. Therefore, when each guided vehicle starts detection, an image of viewing a plurality of targets may be viewed differently depending on the position of each vehicle, flight angle, and the like.

That is, as shown in FIG. 1, targets visible in the detection window 10 of the first guided vehicle M1 and the detection window 30 of the third guided vehicle M3 may be viewed somewhat differently.

Although, in FIG. 1, the detection is limited to the case where M number of vehicles pass through the position A and reach the position B, the detection is limited to the case, but this is only an exemplary embodiment and can be changed as necessary.

2A is a diagram illustrating an example of a detection window for the same target group of two guided vehicles according to an embodiment of the present invention.

2A shows two cases in which the target is shown through the detection window when each guided vehicle starts detection.(a) is when the first guided vehicle and the second guided vehicle see all of the targets. And (b) shows a case where the first guided vehicle and the second guided vehicle see some of the targets. Here, the number displayed on the detection window is only an indication to distinguish the targets seen from the first guided vehicle and the second guided vehicle.

First, when viewed through (a), the entire target, that is, all eight targets can be seen in the detection window 21a of the first guided vehicle and the detection window 23a of the second guided vehicle.

Meanwhile, when viewed through (b), only some of the targets may be seen from the detection window 21b of the first guided vehicle and the detection window 23b of the second guided vehicle. In this case, some targets visible from the detection window 21b of the first guided vehicle may be different from some targets viewed from the detection window 23b of the second guided vehicle.

For example, as in (b), targets 1 to 5, 7, and 8 are visible in the detection window 21b of the first guided vehicle, and 1, 5 to 7 in the detection window 23b of the second guided vehicle. The target can be seen.

FIG. 2B is a diagram illustrating an example of assignment of numbers to targets in each guided vehicle in the case of FIG. 2A(b).

Referring to FIG. 2B, each of the first guided vehicle and the second guided vehicle is assigned a number for a target visible in the detection windows 21b and 23b.

The first guided vehicle is assigned a number corresponding to a continuous integer greater than or equal to 1 to each of the seven targets identified through the detection window 21b, and the second guided vehicle is also each of the four targets identified through the detection window 23b. Allocates a number corresponding to an integer greater than or equal to 1 in succession.

3 is a block diagram illustrating an apparatus for selecting a target of a guided vehicle according to an embodiment of the present invention.

Referring to FIG. 3, the apparatus 100 for selecting a target of a guided vehicle according to an embodiment of the present invention includes a detection unit 101, an allocation unit 103, a selection unit 105, and a control unit 107.

The detection unit 101 detects only targets that satisfy a preset criterion through image processing in the detection window. In other words, this is to select the target to attack.

The allocation unit 103 allocates a number to each target detected by the detection unit 101, and calculates the number of targets n. For example, as shown in (b) of FIG. 2, since seven targets are visible in the detection window 21b of the first guided vehicle, n is 7, and four targets are in the detection window 23b of the second guided vehicle. Because is visible, n becomes 4.

The selection unit 105 selects a target to be hit, for this purpose, the selection unit 105 selects the number of the target to be hit using the following <Equation 1>.

<Equation 1>

target_number = uniform[1 n]

Here, uniform[1 n] is a function that randomly generates an integer between 1 and n according to a discrete uniform distribution. For example, one of the targets 1-5, 7, and 8 shown in the detection window 21b of the first guided vehicle as shown in (b) of FIG. 2 is randomly selected according to the discrete uniform distribution, and the second guided vehicle One of the targets 1, 5-7 shown in the detection window 23b of is randomly selected according to the discrete uniform distribution.

The control unit 107 detects only targets that satisfy a preset criterion, allocates a number, and controls to select and strike any target to be hit according to a discrete uniform distribution.

4 is a flowchart illustrating a method of selecting a target for a guided vehicle according to an embodiment of the present invention.

First, the detection unit 101 detects only targets that satisfy a preset criterion through image processing in the detection window (S201), and the assignment unit 103 allocates a number to each of the targets previously detected by the detection unit 101. (S203).

Thereafter, the selection unit 105 selects any target to be hit among the targets assigned a number by the assignment unit 103 according to the discrete uniform distribution (S205), and the control unit 107 strikes the selected target. Control to be performed (S207).

5A to 5C are diagrams for showing a simulation result based on a guided vehicle according to an embodiment of the present invention, and show simulation results compared with two other algorithms to show the algorithm performance according to the present invention. have.

Specifically, (1) the brightest target selection algorithm for selecting the brightest target among targets in the detection window, (2) a sequential allocation algorithm for allocating target numbers to each guided vehicle before launch, and in the detection window corresponding to the present invention. These are simulation results using the (3) random assignment algorithm that randomly assigns target numbers and selects any one.

At this time, in order to consider the flight error in the simulation, it was modeled as a normal distribution. In addition, in the sequential allocation algorithm, the following procedure was considered in order to consider the case where the number allocated before launch is larger than the target of the detection window. For example, if only 7 targets are identified in the detection window at the beginning of the search for a guided vehicle that has been assigned target 10 before launch, the final target number is assigned by dividing 7 by 10 and the remainder as the number. In other words, it is assumed that the third target is hit. However, this is only an exemplary embodiment, and can be changed and set as necessary.

,

축으로 정규오차 분포를 갖도록 하여 이루어졌다. 즉, 각 유도 비행체는 탐지 시작 시, 탐지창의 중심 (

,

)는 하기 <수학식 2>로 모델링 하였다.On the other hand, for each simulation, the image sensor resolution of the guided vehicle is 512 × 512, and in the ideal detection window,

,

It was made to have a normal error distribution along the axis. In other words, each guided vehicle is at the center of the detection window (

,

) Was modeled by the following <Equation 2>.

<Equation 2>

,

는 각각 이상적인 탐지창(즉, 비행 오차가 없는)의 중심점을 나타내고,

,

는 각각 x, y 축의 표준편차이다.here,

,

Represents the center point of the ideal detection window (i.e., no flight error), respectively,

,

Is the standard deviation of the x and y axes, respectively.

First, FIG. 5A is a diagram for showing the probability of hitting according to an increase in the number of targets, and the simulation was conducted under the condition that the standard deviation is 50 and the number of vehicles (M) is the same as the number of targets (N).

According to the simulation results, when there is one target, all three algorithms show the same probability of hitting, but as the target increases, the effectiveness of (1) the brightest target selection algorithm decreases rapidly, and (2) the sequential allocation algorithm and (3) It can be seen that the random allocation algorithm shows almost the same performance.

5B is a diagram for showing the probability of hitting according to an increase in the standard deviation, and the simulation was performed under the condition that the number of vehicles (M) is 30, and the number of targets (N) is equal to 30.

According to the simulation results, when the standard deviation is 0, that is, when all vehicles view the same image at the time of detection because there is no flight error, it can be confirmed that (2) the sequential allocation algorithm shows a 100% probability of hitting. On the other hand, as the standard deviation increases, the performance of sequential allocation decreases, and it can be seen that (3) it becomes similar to the random allocation algorithm. In the case of this random allocation algorithm, it can be seen that a constant value is displayed regardless of the standard deviation.

Figure 5c is a diagram for showing the probability of hitting according to the increase of the vehicle, the simulation was conducted under the condition that the number of vehicles (M) is 50, and the standard deviation is 100.

5C shows the probability of hitting 50 targets with 10 to 100 guided vehicles, and it can be seen that (2) the sequential allocation algorithm and (3) the random allocation algorithm show almost the same performance. have.

As described above, in the present invention, after launching the guided vehicle, there is no need to send additional information to the central control station, and operates in an oblivion manner. In other words, it is possible to select and strike any one of a plurality of targets through a very simple algorithm that does not require information exchange between aircraft, and at the same time, there is an effect of improving the hitting efficiency.

6 shows a procedure in consideration of the actual operation of the sequential allocation algorithm and the random allocation algorithm. Sequential allocation algorithms must at least give each guided vehicle a unique serial number prior to launch, whereas random allocation algorithms do not need this information.

In the present specification and drawings, preferred embodiments of the present invention have been disclosed, and although specific terms are used, these are merely used in a general meaning to easily describe the technical content of the present invention and to aid understanding of the present invention. It is not intended to limit the scope. In addition to the embodiments disclosed herein, it is apparent to those of ordinary skill in the art that other modifications based on the technical idea of the present invention may be implemented.

Claims (7)

In the target selection device of the guided vehicle,
A detection unit that detects a plurality of targets through a detection window during flight;
An allocation unit for allocating a number to each of the targets;
A selection unit that randomly selects one target to be hit from among the targets to which the number is assigned; And
The targets are detected through the detection window using the detection unit, a number is assigned to each of the targets using the assignment unit, and one target to be hit is selected from among the targets to which the number is assigned using the selection unit. It selects and includes a control unit for controlling to hit the selected target,
The detection window is in consideration of the difference in flight position and flight angle between the guided vehicle and another guided vehicle launched at the same time as the guided vehicle according to the navigation error, sensor error and wind disturbance due to the flight. It additionally detects at least one target that is different from the plurality of targets detected by the vehicle,
The targets are target selection device of a guided vehicle, characterized in that the hitting targets of the guided vehicle.
The method of claim 1,
The number of guided vehicles including the guided vehicle and the other guided vehicle is 30 or more,
The target selection device for a guided vehicle, characterized in that the number of the targets is 30 or more.
The method of claim 1,
The selection unit,
A target selection device for a guided vehicle, characterized in that, based on a discrete uniform distribution, one target to be hit is selected from among targets to which the number is assigned. delete delete delete delete

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