WO2011002343A1 - Procédé étendu pour guidage terminal - Google Patents

Procédé étendu pour guidage terminal Download PDF

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Publication number
WO2011002343A1
WO2011002343A1 PCT/SE2009/000332 SE2009000332W WO2011002343A1 WO 2011002343 A1 WO2011002343 A1 WO 2011002343A1 SE 2009000332 W SE2009000332 W SE 2009000332W WO 2011002343 A1 WO2011002343 A1 WO 2011002343A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
angular rate
target
acceleration
body angular
Prior art date
Application number
PCT/SE2009/000332
Other languages
English (en)
Inventor
Thomas Svantesson
Magnus Andersson
Andreas SÖDERBERG
Anders Peterson
Original Assignee
Saab Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Saab Ab filed Critical Saab Ab
Priority to PCT/SE2009/000332 priority Critical patent/WO2011002343A1/fr
Publication of WO2011002343A1 publication Critical patent/WO2011002343A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems

Definitions

  • An extended method for terminal guidance relates to an extended method for terminal guidance of a vehicle, such as a missile, a torpedo or similar, with the intention to intercept a stationary or movable target using proportional navigation like method of the vehicle based upon vehicle and target state conditions.
  • the invention also refers to a vehicle operating according to the claimed method.
  • Terminal guidance is an established discipline for guidance of autonomous vehicles. Commonly the period of terminal guidance is regarded as the time period from the detection of a target, normally with its own target seeker, to the interception or passing of the target. Based upon different assumptions about dynamics, movements and performance of the vehicle and the target, optimal guidance laws can be calculated. Known proportional navigation methods for construction of terminal guidance algorithms are based upon relative position and relative velocity between the vehicle and the target and possibly also upon accelerations of the vehicle and the target. The objective of the vehicle is to intercept the target.
  • the terminal guidance algorithms have different advantages and disadvantages depending on the characteristics of the vehicle and target.
  • instability during the last part of the terminal guidance might be a problem and is an inherent characteristic of known terminal guidance algorithms, e.g. proportional navigation, involving an increased deterioration for time critical processes.
  • the object of the invention is to obtain a method for terminal guidance of a vehicle improving the terminal guidance characteristics regarding instability problems as well as intercept performance.
  • the object is obtained by a method characterized in that the proportional navigation like method is extended by using information about the body angular rate of the vehicle.
  • a target seeker is provided in the vehicle.
  • a provided closed control loop preferably comprises a target seeker, guidance and control as well as vehicle body including an actuator system.
  • the use of information about the body angular rate improves the terminal guidance characteristics and inter alia an increase in the stability and performance of a closed control loop is obtained during the last part of the terminal guidance.
  • the body angular rate is measured on board the vehicle.
  • a gyro unit can be used. It is also possible to estimate the body angular rate based upon other information made available on board the vehicle. It is for example possible to use accelerometers. Other examples are positioning of external objects by means of optical sensors, laser or radar. It is also possible to use attitude measuring global positioning systems, GPS.
  • the proportional navigation in addition to information about the body angular rate of the vehicle is stabilized by information about the body acceleration of the vehicle.
  • the vehicle is guided by commanding its body acceleration.
  • the way of controlling the body acceleration is rather straight forward and relatively easy to implement.
  • the body acceleration is controlled by using fins and electro-mechanical servos, thrust vector control or impulse control.
  • the vehicle is guided by commanding its body acceleration and its body angular rate in order to achieve a more precise control of the vehicle.
  • FIG. 2 schematically in a block diagram illustrates the guidance of a vehicle in accordance with the invention.
  • FIG. 3 shows a guidance law block diagram comprised in the guidance system block of figure 2.
  • a movable vehicle 1 for example a missile
  • a movable target 2 The distance between the vehicle 1 and the target 2 is denoted with R.
  • the vehicle moves with a velocity V n , and the target with a velocity V t in directions as indicated by 3 and 4, respectively.
  • an angle ⁇ is shown used as a line of sight angle.
  • the proportional navigation guidance law generates acceleration commands a c that are proportional to the angular velocity ⁇ and the relative closing speed,
  • the commanded acceleration ⁇ c can be written as:
  • TV is a proportional navigation parameter (often seen as a constant).
  • This guidance law results in that when the vehicle has entered a collision course with the target, that is when the angle ⁇ being constant, no acceleration need to or will be commanded.
  • the above explanation holds for a two dimensional case. It can however according to the same principles be enlarged to a three dimensional case.
  • a target seeker 5 is arranged to keep track of a target 2.
  • the target seeker 5 is housed in a vehicle 1.
  • a guidance system block 6 a vehicle dynamics block 7, an accelerometer 8 and a gyro unit 9 are here identified as separate blocks within the vehicle, but the accelerometer and the gyro unit can be included in the guidance system block 6 as well .
  • the guidance system Based upon information from the target seeker 5, the accelerometer 8 and the gyro unit 9, the guidance system has information available for common proportional navigation and its extensions of the vehicle but also due to the gyro unit 9 information about the body angular rate in order to stabilize the vehicle and improve the intercept performance during the terminal guidance, especially the last part of it.
  • the output of the guidance system block is a body acceleration command or the body acceleration and the body angular rate command which is finally carried out by the vehicle dynamics block or unit 7, comprising the vehicle kinematic characteristics including for example autopilot, fins and airframe.
  • Figure 3 schematically illustrates the guidance law of the guidance system block 6.
  • the guidance law 15, as drawn up, based upon incoming target data 10, measured body angular rate 11 and measured body acceleration 12 outputs body acceleration 13 and body angular rate 14 to be commanded.
  • the implementation of the proposed principal guidance law in figure 3 can be carried out in a plurality of different ways.
  • every method of for example linear quadratic optimization, H 00 and so on can be used.
  • the model on which the guidance law is based can be described in a plurality of different ways and principally concerning degree of details/simplifications, separation of more or less weakly coupled models and interaction with the surroundings.
  • LQ linear quadratic optimization
  • a guidance law in the yaw direction is to be constructed for a vehicle to intercept a movable or stationary target and that the vehicle is controlled according to the so called skid-to-turn principle in turning the vehicle. Following this principle the vehicle is guided horizontally when commanded in the yaw direction and vertically when commanded in the pitch direction.
  • a model of the time derivative of the sight line rotation as a function of the movements of the vehicle and target is defined as: where R and V 0 relate to the relative distance and the relative speed between the vehicle and the target, respectively, and where a t relate to the target acceleration, a m to the vehicle acceleration.
  • Models for the time derivative of the vehicle acceleration and vehicle body rotation are based upon the dynamics of the vehicle and commanded vehicle acceleration: k k
  • ⁇ , n ⁇ a m + k ⁇ ⁇ m +- ⁇ u
  • k x to Ar 6 are parameters describing the dynamics of the vehicle inter alia comprising the pivoting time constant, the natural frequency and further parameters of the vehicle, and in which V 1n is the velocity of the vehicle and u the acceleration to be calculated and commanded.
  • the sight line rotation r s By providing a target seeker 5, an accelerometer 8 and a gyro unit 9 on board the vehicle 1, the sight line rotation r s , the vehicle acceleration a m , and the body angular rate ⁇ m can be determined, i.e. being the states JC which are measured or alternatively estimated.
  • L (I 1 , I 2 , 1 3 ) defines the parameters of the guidance law, the parameters being allowed to be time variable.
  • the parameters of the guidance law in L can, by using the state-space model, be determined by an optimal method. For instance, by means of a linear quadratic optimization, LQ, L is determined by minimizing the cost function J .

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

La présente invention porte sur un procédé étendu pour un guidage terminal d'un véhicule (1), tel qu'un missile, une torpille ou similaire, avec l'intention d'intercepter une cible fixe ou mobile (2) à l'aide d'une navigation proportionnelle du véhicule (1) en fonction d'états de véhicule et de cible. L'invention porte également sur un véhicule (1) fonctionnant selon le procédé revendiqué. Selon l'invention, des problèmes de stabilité sont réduits et une performance d'interception est améliorée durant le guidage terminal. Ceci est obtenu par l'extension et l'augmentation de la navigation proportionnelle par des informations concernant la vitesse angulaire de corps (ωm) du véhicule, et, éventuellement, l'accélération de corps.
PCT/SE2009/000332 2009-06-30 2009-06-30 Procédé étendu pour guidage terminal WO2011002343A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/SE2009/000332 WO2011002343A1 (fr) 2009-06-30 2009-06-30 Procédé étendu pour guidage terminal

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SE2009/000332 WO2011002343A1 (fr) 2009-06-30 2009-06-30 Procédé étendu pour guidage terminal

Publications (1)

Publication Number Publication Date
WO2011002343A1 true WO2011002343A1 (fr) 2011-01-06

Family

ID=43411236

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2009/000332 WO2011002343A1 (fr) 2009-06-30 2009-06-30 Procédé étendu pour guidage terminal

Country Status (1)

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WO (1) WO2011002343A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016045251A1 (fr) * 2014-09-26 2016-03-31 京东方科技集团股份有限公司 Procédé et dispositif d'affichage d'image
CN112525003A (zh) * 2020-11-30 2021-03-19 北京宇航系统工程研究所 一种带落角约束的扩展比例导引方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0436215A2 (fr) * 1990-01-08 1991-07-10 Hughes Aircraft Company Système pour le guidage d'un missile léger
GB2309068A (en) * 1985-01-30 1997-07-16 Secr Defence Missile guidance system
USH1980H1 (en) * 1996-11-29 2001-08-07 The United States Of America As Represented By The Secretary Of The Air Force Adaptive matched augmented proportional navigation
US7446291B1 (en) * 2005-10-03 2008-11-04 Lockheed Martin Corporation Augmented proportional navigation guidance law using angular acceleration measurements

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2309068A (en) * 1985-01-30 1997-07-16 Secr Defence Missile guidance system
EP0436215A2 (fr) * 1990-01-08 1991-07-10 Hughes Aircraft Company Système pour le guidage d'un missile léger
USH1980H1 (en) * 1996-11-29 2001-08-07 The United States Of America As Represented By The Secretary Of The Air Force Adaptive matched augmented proportional navigation
US7446291B1 (en) * 2005-10-03 2008-11-04 Lockheed Martin Corporation Augmented proportional navigation guidance law using angular acceleration measurements

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016045251A1 (fr) * 2014-09-26 2016-03-31 京东方科技集团股份有限公司 Procédé et dispositif d'affichage d'image
CN112525003A (zh) * 2020-11-30 2021-03-19 北京宇航系统工程研究所 一种带落角约束的扩展比例导引方法
CN112525003B (zh) * 2020-11-30 2022-12-27 北京宇航系统工程研究所 一种带落角约束的扩展比例导引方法

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