EP0740123B1 - System zur Bestimmung der Lage und des Rollwinkels eines sich bewegenden Objektes - Google Patents

System zur Bestimmung der Lage und des Rollwinkels eines sich bewegenden Objektes Download PDF

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Publication number
EP0740123B1
EP0740123B1 EP96400769A EP96400769A EP0740123B1 EP 0740123 B1 EP0740123 B1 EP 0740123B1 EP 96400769 A EP96400769 A EP 96400769A EP 96400769 A EP96400769 A EP 96400769A EP 0740123 B1 EP0740123 B1 EP 0740123B1
Authority
EP
European Patent Office
Prior art keywords
optical elements
optical
missile
moving body
roll angle
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
EP96400769A
Other languages
English (en)
French (fr)
Other versions
EP0740123A1 (de
Inventor
Thierry Solenne
Jean-Pierre Merle
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aerospatiale Matra
Original Assignee
Aerospatiale Matra
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Filing date
Publication date
Application filed by Aerospatiale Matra filed Critical Aerospatiale Matra
Publication of EP0740123A1 publication Critical patent/EP0740123A1/de
Application granted granted Critical
Publication of EP0740123B1 publication Critical patent/EP0740123B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • F41G7/30—Command link guidance systems
    • F41G7/301—Details
    • F41G7/305—Details for spin-stabilized missiles

Definitions

  • the present invention relates to a system for determining the position and roll angle of a mobile.
  • piloting for example generator side impellers gas, jet interceptors or control surfaces, during appropriate durations and at determined times, i.e. for determined positions of said devices steering in relation to said reference axis.
  • the determination of the position and the determination roll angle are performed independently one from the other.
  • Determining the roll angle is generally more difficult to implement and often requires expensive auxiliary means.
  • the roll angle can be determined by a measurement carried out on board the missile, for example a inertial measurement.
  • a measurement carried out on board the missile for example a inertial measurement.
  • such a solution requires to carry expensive, sophisticated and generally brittle.
  • a known solution recommends arranging on said missile an optical device comprising a reflector and a polarizer and illuminate this device optics from the ground. The radiation reflected by said optical device is then detected on the ground and is processed so as to extract the roll angle of said missile.
  • the object of the present invention is to remedy these drawbacks. It concerns a precise and costly system reduced to determine both the roll angle and the position relative to a reference axis of a mobile.
  • the implementation of the invention is inexpensive, since most of the elements of the system conform to the invention, except of course the optical elements, already exist on a mobile guidance system, to which the system according to the invention is generally associated.
  • said mobile comprises four fins evenly distributed around its periphery, as this is the case for many types of missiles, we agency the optical elements at the radially outer ends respectively of three of said fins.
  • Such an arrangement allows the optical elements to be moved away from the more possible from the longitudinal axis of the mobile and allows thus protect said optical elements, as well as luminous flashes generated, against the disturbances that could cause possible smoke produced at the rear said mobile near its longitudinal axis during the propulsion of said mobile, as is the case for some types of missiles.
  • the optical elements used can be advantageously made of different manners.
  • said elements optics are simply emitters of light bursts, for example light beacons
  • the system according to the invention includes a stationary light generator fixed near said optical detector and susceptible to emit light flashes at least into the environment of said reference axis, and said optical elements are light reflectors capable of reflecting light flashes received from said light flash generator.
  • Figure 1 shows schematically the compliant system to the invention associated with a mobile.
  • Figure 2 shows an image showing the mobile and making it possible to illustrate the implementation of the invention.
  • System 1 according to the invention and shown in the Figure 1 is intended to continuously determine the angle of roll, as well as the position relative to an axis of OX reference, from a mobile 2, in this case a missile.
  • the OX reference axis represents for example the line of aim of a weapon system not shown, for example a anti-tank system, equipped with system 1 according to the invention and pointed at a target not shown to be hit by said missile 2.
  • the data determined by system 1 and supplied to the weapon system can especially be used to develop guidance orders intended to guide the missile 2 on along said OX reference axis.
  • Said optical elements 8, 9 and 10 are intended to reflect, towards the optical detector 3, the splinters luminous 7 received from said generator 6.
  • missile 2 has four fins 11 uniformly distributed around its periphery, we prefer to arrange said optical elements 8, 9 and 10 at the radially ends external 11A of three of said fins 11, such as shown in figure 1.
  • Said light flashes 7 emitted by the generator 6 and reflected by the optical elements 8, 9 and 10 are detected by the optical detector 3.
  • said generator 6 continuously illuminates said optical elements 8, 9 and 10, which allows you to take an image at all the time, since the optical elements 8, 9 and 10 then continuously reflect the received light.
  • the system 1 includes a control unit 17 which is connected via links 18 and 19 respectively to generator 6 and electronics 15 and which simultaneously control these.
  • the light flashes 7 picked up by the optical detector 3 are likely to activate the photosensitive elements 13 of the matrix 12, and therefore to be located on a socket PI image.
  • the computer 4 determines the angle of roll and missile position 2, from position of said optical elements 8, 9 and 10 in such a socket PI image, as shown in Figure 2.
  • the distance D between said point O is determined and the longitudinal axis L-L of missile 2, indicated by a point P on the PI image capture.
  • Said point P corresponds to the projection of the optical element 10 on the base line LB (along the perpendicular PE).
  • the position of said point P in the reference frame OYZ therefore indicates the position wanted from missile 2 with respect to the OX reference axis.
  • the implementation of the invention is inexpensive, since most of the elements of system 1 already exist on a missile guidance system to which system 1 is generally associated. Thus, only the optical elements 8, 9 and 10, for example simple mirrors, are to be mounted specific way and are lost after the implementation of the invention.
  • the optical elements are individual transmitters transmitting radiation likely to be picked up by the detector optical 3. These transmitters can transmit either continuously, either at determined times. In the latter case, it is necessary to provide synchronization, for example radio type, between said transmitters and electronics 15 taking the images.
  • the data calculated by the system 1 can be used to guide missile 2.
  • the luminous flashes 7 are used not only for the location, but still on the remote control of missile 2 at from the firing and guiding station 3, 4, 6, 17.
  • the present invention is particularly well suited for determine the guidance orders of a missile trained in rotation and whose guidance is implemented by control devices not shown, for example side thrusters with gas generator or control surfaces, arranged at the periphery of the missile and activated for appropriate durations, at times determined according to the position and the angle of rotation, i.e. the angle roll, missile, so depending on the determined data by the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Transform (AREA)

Claims (4)

  1. System zur Bestimmung des Rollwinkels () sowie der Lage gegenüber einer Bezugsachse (0X) eines sich bewegenden Objekts (2) mit einer Längsachse (L-L), wobei das System (1) einen fest angebrachten optischen Detektor (3) hat, der eine Bilderfassung (PI) der Umgebung der Bezugsachse (0X) vornehmen kann, in der sich das sich bewegende Objekt (2) bewegen kann,
    dadurch gekennzeichnet, daß es umfaßt:
    drei am sich bewegenden Objekt (2) angebrachte optische Elemente (8, 9, 10), die in Richtung des optischen Detektors (3) Lichtblitze (7) erzeugen können, wobei ein erstes und ein zweites optisches Element (8, 9), die eine Grundlinie (LB) bilden, diametral entgegengesetzt zur Längsachse (L-L) angebracht sind und das dritte optische Element (10) in einer zumindest annähernden Senkrechten (PE) zu dieser durch die Längsachse verlaufenden Grundlinie (LB) angeordnet ist, und
    einen mit dem optischen Detektor (3) verbundenen Rechner (4), der die Lage und den Rollwinkel () des sich bewegenden Objekts (2) aus der Lage der optischen Elemente (8, 9, 10) in einer Bilderfassung (PI) bestimmen kann, die von dem die Lichtblitze (7) erfassenden optischen Detektor (3) verwirklicht wird, wobei der Rollwinkel () dem Winkel zwischen der Grundlinie (LB) und einer Achse (0Y) eines bestimmten Bezugssystems (OYZ) entspricht, die Unbestimmtheit des Rollwinkels von 180° durch die Lage des dritten optischen Elements (10) aufgehoben wird und die Lage des sich bewegenden Objekts (2) gegenüber der Bezugsachse (0X) aus der Projektion der Lage des dritten optischen Elements (10) auf die Grundlinie (LB) erzielt wird.
  2. System nach Anspruch 1, wobei das sich bewegende Objekt (2) vier gleichmäßig an seinem Umfang verteilte Flügel (11) hat,
    dadurch gekennzeichnet, daß die optischen Elemente (8, 9, 10) an den radial externen Enden (llA) von jeweils drei der Flügel (11) angeordnet sind.
  3. System nach einem der Ansprüche 1 oder 2,
    dadurch gekennzeichnet, daß die optischen Elemente Lichtblitzstrahler sind.
  4. System nach einem der Ansprüche 1 oder 2,
    dadurch gekennzeichnet, daß es einen Generator (6) von Lichtblitzen (7) hat, der fest in der Nähe des optischen Detektors (3) angebracht ist und zumindest in die Umgebung der Bezugsachse (0X) Lichtblitze (7) abgeben kann, und dadurch, daß die optischen Elemente (8, 9, 10) Lichtreflektoren sind, die die vom Generator (6) erhaltenen Lichtblitze (7) reflektieren können.
EP96400769A 1995-04-24 1996-04-10 System zur Bestimmung der Lage und des Rollwinkels eines sich bewegenden Objektes Expired - Lifetime EP0740123B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9504868 1995-04-24
FR9504868A FR2733326B1 (fr) 1995-04-24 1995-04-24 Systeme pour determiner la position et l'angle de roulis d'un mobile

Publications (2)

Publication Number Publication Date
EP0740123A1 EP0740123A1 (de) 1996-10-30
EP0740123B1 true EP0740123B1 (de) 2000-03-01

Family

ID=9478384

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96400769A Expired - Lifetime EP0740123B1 (de) 1995-04-24 1996-04-10 System zur Bestimmung der Lage und des Rollwinkels eines sich bewegenden Objektes

Country Status (9)

Country Link
US (1) US5708583A (de)
EP (1) EP0740123B1 (de)
BR (1) BR9601590A (de)
CA (1) CA2174572A1 (de)
DE (1) DE69606791T2 (de)
ES (1) ES2143152T3 (de)
FR (1) FR2733326B1 (de)
IL (1) IL117912A (de)
NO (1) NO315395B1 (de)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999003000A1 (en) 1997-07-09 1999-01-21 Massachusetts Institute Of Technology Integrated flight information and control system
FR2874434B1 (fr) * 2004-08-20 2006-11-17 Mbda France Sa Procede et dispositif pour la realisation d'une liaison optique par eclats lumineux
FR2908874B1 (fr) * 2006-11-21 2009-01-23 Mbda France Sa Systeme de visee a ecartometre integre.
US8178825B2 (en) * 2007-10-29 2012-05-15 Honeywell International Inc. Guided delivery of small munitions from an unmanned aerial vehicle
US8074555B1 (en) * 2008-09-24 2011-12-13 Kevin Michael Sullivan Methodology for bore sight alignment and correcting ballistic aiming points using an optical (strobe) tracer
US8093539B2 (en) * 2009-05-21 2012-01-10 Omnitek Partners Llc Integrated reference source and target designator system for high-precision guidance of guided munitions
DE102010004820A1 (de) * 2010-01-15 2011-07-21 Rheinmetall Air Defence Ag Verfahren zur Flugbahnkorrektur eines insbesondere endphasengelenkten Geschosses sowie Geschoss zur Durchführung des Verfahrens
US10892832B2 (en) 2014-11-11 2021-01-12 Teledyne Scientific & Imaging, Llc Moving platform roll angle determination system using RF communications link
US10962990B2 (en) * 2019-08-07 2021-03-30 Bae Systems Information And Electronic Systems Integration Inc. Attitude determination by pulse beacon and low cost inertial measuring unit

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3868883A (en) * 1964-02-20 1975-03-04 Mc Donnell Douglas Corp Guidance system
US4470562A (en) * 1965-10-22 1984-09-11 The United States Of America As Represented By The Secretary Of The Navy Polaris guidance system
US3772516A (en) * 1969-11-06 1973-11-13 Martin Marietta Corp Magnifier scanner tracker
US3963195A (en) * 1975-01-27 1976-06-15 Northrop Corporation Roll reference system for vehicles utilizing optical beam control
US4072281A (en) * 1976-12-27 1978-02-07 The United States Of America As Represented By The Secretary Of The Army Optical attitude reference
US5039029A (en) * 1982-07-01 1991-08-13 The United States Of America As Represented By The Secretary Of The Navy Missile orientation monitor
FR2583523B1 (fr) * 1985-06-17 1988-07-15 Aerospatiale Systeme pour la localisation d'un mobile.
GB8724077D0 (en) * 1987-10-14 1988-02-17 British Aerospace Roll orientation
US5276632A (en) * 1990-08-10 1994-01-04 Kaman Aerospace Corporation Method and apparatus for improved visual display of a target viewed by an imaging sensor device
FR2671193B1 (fr) * 1990-12-28 1994-03-25 Thomson Brandt Armements Procede et dispositif de detection de proximite sectorielle d'une cible, et munition utilisant le dispositif.
US5372334A (en) * 1993-04-23 1994-12-13 Hughes Missile Systems Company Local vertical sensor for externally-guided projectiles
FR2706205B1 (fr) * 1993-06-08 1995-07-21 Thomson Csf Dispositif optique de mesure sans ambiguité de l'angle de roulis d'un projectile.
DE4416211C2 (de) * 1994-05-07 1996-09-26 Rheinmetall Ind Gmbh Verfahren und Vorrichtung zur Flugbahnkorrektur von Geschossen

Also Published As

Publication number Publication date
NO961611L (no) 1996-10-25
DE69606791T2 (de) 2000-07-06
CA2174572A1 (fr) 1996-10-25
EP0740123A1 (de) 1996-10-30
ES2143152T3 (es) 2000-05-01
BR9601590A (pt) 1998-03-24
IL117912A (en) 2000-08-13
DE69606791D1 (de) 2000-04-06
NO961611D0 (no) 1996-04-23
FR2733326B1 (fr) 1997-06-06
NO315395B1 (no) 2003-08-25
FR2733326A1 (fr) 1996-10-25
IL117912A0 (en) 1996-08-04
US5708583A (en) 1998-01-13

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