EP0809084B1 - Vorrichtung zur Rollwinkelbestimmung eines Flugkörpers, insbesondere einer Munition - Google Patents

Vorrichtung zur Rollwinkelbestimmung eines Flugkörpers, insbesondere einer Munition Download PDF

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Publication number
EP0809084B1
EP0809084B1 EP19970401026 EP97401026A EP0809084B1 EP 0809084 B1 EP0809084 B1 EP 0809084B1 EP 19970401026 EP19970401026 EP 19970401026 EP 97401026 A EP97401026 A EP 97401026A EP 0809084 B1 EP0809084 B1 EP 0809084B1
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EP
European Patent Office
Prior art keywords
projectile
plane
gps
antenna
vector
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
EP19970401026
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English (en)
French (fr)
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EP0809084A1 (de
Inventor
Jean-Paul Thomson-CSF SCPI Labroche
Charles Thomson-CSF SCPI Dussurgey
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TDA Armements SAS
Thales Avionics SAS
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TDA Armements SAS
Thales Avionics SAS
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    • 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 invention relates to a device for determining the orientation. roll of a flying object, for example of ammunition. It applies especially for improving the efficiency of artillery ammunition especially as part of extended range ammunition.
  • a known method, currently for reducing imprecision of impact notably consists in correcting the pointing angles of the tube, from information provided by advanced observers on the actual impact points of first projected munitions. There does not remain then in the dispersion, in addition to the error of appreciation of the observers, that the random part specific to each projectile and due to turbulence atmospheric.
  • the object of the invention is to determine the orientation in particular ammunition with respect to a terrestrial reference, for example the plan vertical.
  • the orientation angle thus defined is similar in fact to the angle of ammo roll.
  • the main advantages of the invention are that it allows correction of trajectories in range and lateral without equipment of the vertical detector type on board the ammunition, that it allows trajectory correction calculations made at soil, that it is simple to implement and that it is economical in the especially since it does not require a complete on-board system in ammunition or any other flying object.
  • FIG. 1 shows an example of the difference between a theoretical trajectory 1 and an actual trajectory 2 of an ammunition.
  • the real impact point Ir has a deviation ⁇ x in range and ⁇ y laterally from the theoretical impact point I t .
  • the orders of magnitude of the deviations ⁇ x and ⁇ y are respectively 200m and 120m.
  • ⁇ y represents a deviation from the vertical plane 3 of the theoretical trajectory.
  • the correction of the real trajectory requires knowing the angle that the ammunition makes with respect to a plane, preferably vertical, the angle considered being an angle of roll of the ammunition or of rotation around d 'herself. In the remainder of the description, the determination of this angle will be applied for a munition with the aim in particular of correcting its trajectory.
  • the invention can be applied to determine the roll angle of all types of flying machines regardless of the subsequent use of this angle.
  • the flying devices can for example be shells, bombs, rockets, or missiles.
  • the invention is particularly suitable for vehicles having rolling speeds of the order of, for example, from 10 to 50 revolutions per second.
  • FIG. 2 illustrates a possible embodiment of a device according to the invention. It includes elements on board the fired ammunition 21 and elements on the ground.
  • One of the interests of the invention is to have at the ground most of the complex and expensive elements, the elements arranged in ammunition being of low cost. Ground elements are common to several munitions, in practice a large number of munitions.
  • the invention uses the known GPS system, this second expression coming from the Anglo-Saxon expression "Global Positioning System ".
  • the GPS system is used in particular to obtain the coordinates and the velocity vector of ammunition 21.
  • ammunition 21 does not include GPS receiver, expensive system, but only a GPS antenna, annular structure for example then means for retransmitting this signal to the ground.
  • the retransmission means comprise at least one antenna reissue 23 with anisotropic structure in the ammunition rolling plane 21, that is to say in a plane perpendicular to its longitudinal axis 24.
  • the combination of the GPS signal and a signal produced by the quality of anisotropy of the retransmission antenna 23 allows according to the invention to determine the roll angle of the ammunition 21.
  • a transponder 25 is for example interposed between the antenna GPS 22 and the retransmission antenna 23.
  • the GPS antenna receives a signal from a satellite then the transponder 25 transposes the frequency of the signal received in another frequency band, preferably of higher frequency.
  • the transponder 25 for example transposes the GPS signal in the S band, any other frequency band is possible depending on the application. Frequency transposition is preferable for avoid re-transmitting in the frequency band reserved for GPS signals and to avoid any risk of confusion.
  • the device On the ground, the device comprises at least one GPS receiver 26 and calculation means 27 which make it possible to define the angle made by a point singular of the retransmission antenna 23 with a passing reference plane by the roll axis of the munition 21, in fact its longitudinal axis 24, from in particular of a particular signal received by the GPS reception means at ground, when the singular point passes for example closest to these last.
  • the angle thus defined represents the roll angle of the ammunition.
  • a reception antenna 28, operating for example in a band S receives the signal 32 retransmitted by the antenna 23 of the munition 21.
  • the antenna 28 is for example connected to means 29 for transposing the received signal, by example in S band, in the frequency band of GPS signals.
  • the transposition means 29 are connected to the GPS receiver 26 via a switch 30 with two positions for example. In a first position the switch 30 connects the GPS receiver 26 to an antenna 31. In a second position, it connects the frequency transposition means 29 to the GPS receiver 26. In the first position, the GPS system allows know the position of the antenna 31. When the switch switches in its second position, that is to say at the time of the firing, the receiver operates then indirectly the signals received by ammunition 21 and locates this last as if he were on board.
  • the accuracy of the device can be significantly improved by employing a second, fixed receiver allowing said positioning in differential.
  • the latter calculates corrections to be applied by the receiver 26, as well as a receiver carried by the ammunition.
  • the device according to the invention exploits the property anisotropy of the retransmission antenna 23.
  • This antenna provides the reception means 28, 29, 26 located on the ground information characteristic at each turn that the ammunition 21 performs on itself.
  • Figure 3 shows an example of a characteristic signal such as supplied by the retransmission antenna 23, anisotropic at least in the plane of ammo roll.
  • the signal 32 re-emitted by the anisotropic antenna 23 is represented by its amplitude as a function of time t
  • This signal is by example in band S.
  • the above characteristic is for example a peak 39 signal.
  • This peak 39 appears whenever a singularity of the antenna passes opposite the reception means on the ground, for example by look of the antenna of band S.
  • the singularity causing this signal characteristic is notably a cause of anisotropy of the retransmission antenna 23, which operates in S band for example, in the case of using an S-band transponder 25
  • the time between two peaks 39 consecutive indicates the duration of a roll of the ammunition.
  • the aforementioned singularity can be achieved in various ways known to the skilled person.
  • the calculation means 27 use the signal of FIG. 3 as well that the GPS data consisting in particular of the position and the vector speed of the munition 21. Digitization means not shown, for example integrated into the calculation means 27, deliver the data and above characteristics directly exploitable by them.
  • FIG. 4 illustrates a possible processing carried out by the means 27.
  • the latter use the base-munition direction, the point of base reference given by the signal received by the antenna 31 of GPS reception on the ground. This direction is known with precision since the base reference point as well as the ammunition reference point 21 are perfectly determined by GPS signals as seen previously.
  • the signal peak 29 as for example illustrated in Figure 3 appears when the singularity 41 of the retransmission antenna 23 passes as close as possible for example to the antenna 28 for receiving band S, that is to say precisely when the singularity 41 passes through the plane Ps formed by the axis 24 of the munition 21 and the base-munition direction.
  • the axis 24 of the ammunition is carried by a vector X .
  • M being the reference point of the ammunition 21 and S being the reference point of the base on the ground
  • the base-munition direction is carried by the vector of origin S and of end M. Thereafter, the opposite vector MS is taken into account.
  • the calculation means 27 exploit the fact that there is a correlation between the presence for example of a signal peak with a known direction in the terrestrial frame, this known direction being carried by the vector MS .
  • the calculation means 27 then determine the roll orientation of the ammunition 27 by performing, for example, appropriate calculations from position and direction data.
  • the direction of the singularity 41 of the retransmission antenna 23 is carried by a vector noted Y .
  • the instant of appearance of a peak corresponds to the instant when the vector Y is located in the plane Ps carried by the vectors X and MS .
  • the roll position of the munition 21 with respect to a reference plane is defined by the angle ⁇ made by the plane Ps with this reference plane.
  • the latter is for example the vertical plane P V.
  • the calculation means 27 can therefore determine the angle ⁇ made by the singularity with for example the vertical plane P V , which in fact gives an indication of l 'roll angle which is this calculated angle ⁇ .
  • the plane Ps varies over time as a function of the trajectory of the munition 21.
  • the roll angle measurements are sampled over time, the sampling instants being the instants where the particularity 41 of the retransmission antenna 21 meets the plane Ps formed in fact of the speed vector V ammunition, approximately collinear to the vector X , and the vector MS defined by the reference points of the munition 21 and of the ground base 28, 29, 26.
  • the vector MS and vector V are derived from positioning and direction data provided by GPS signals.
  • the calculation means 27 can also carry out a processing operation to determine a correction order 33 to be sent to the munition 21.
  • This correction order is in particular a function of the position of the munition in the terrestrial frame of reference. , of the position of the target of the ammunition in the same terrestrial reference, of the speed vector V the ammunition and the roll angle ⁇ .
  • the invention offers several advantages. She allows in particular a trajectory correction in range and lateral without additional equipment, for example of the vertical detector type loaded in the ammunition.
  • the combination of GPS data and signal re-emitted by the anisotropic antenna 23 makes it possible according to the invention to determine the roll angle, necessary in particular for correcting the span and lateral trajectory.

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  • 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)
  • Position Fixing By Use Of Radio Waves (AREA)

Claims (9)

  1. Vorrichtung für die Bestimmung des Rollwinkels einer Lenkrakete (21), dadurch gekennzeichnet, daß sie eingebaut in die Rakete (21) wenigstens umfaßt:
    eine Antenne (22) für den Empfang eines GPS-Signals;
    Mittel (23, 25) zum Zurücksenden des GPS-Signals zum Boden, wobei die Rücksendemittel eine Antenne (23) aufweisen, die wenigstens in der Rollebene der Rakete (21) anisotrop ist, und
       dadurch, daß sie am Boden wenigstens umfaßt:
    Mittel (28, 29, 30, 26) für den Empfang des GPS-Signals,
    Mittel (27), die den Winkel (ϕ) berechnen, den eine erste Ebene (Ps), die sich mit der Zeit in Abhängigkeit von der Bahn der Rakete (21) ändert, mit einer Referenzebene (Pv) bildet, wenn auf die erste Ebene (Ps) eine Anisotropie-Singularität (41) der Rücksendeantenne (23) trifft, wobei diese Ebene (Ps) durch den Geschwindigkeitsvektor (V) der Rakete (21) und einen Vektor MS definiert ist, dessen Ursprung M und dessen Ende S die Referenzpunkte der Positionen der Rakete (21) bzw. der Mittel (28, 29, 30, 26) für den Empfang des GPS-Signals sind, wobei der Referenzpunkt M der Rakete (21) und sein Geschwindigkeitsvektor durch das von der eingebauten Antenne (22) empfangene und zu den Empfangsmitteln (28, 29, 30, 26) zurückgesendete GPS-Signal geliefert werden, wobei der berechnete Winkel (ϕ) der Rollwinkel ist.
  2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die Rücksendemittel einen Transponder (25) enthalten, der das GPS-Signal in ein anderes Frequenzband transponiert, wobei die Rücksendeantenne (23) an dieses letztere Frequenzband angepaßt ist, wobei die Mittel für den Empfang des GPS-Signals am Boden außer dem GPS-Empfänger (26) eine angepaßte Empfangsantenne (28) sowie Mittel (29) für die Transposition des empfangenen Signals in das Frequenzband der GPS-Signale, um es zum GPS-Empfänger (26) zu liefern, umfassen.
  3. Vorrichtung nach Anspruch 2, dadurch gekennzeichnet, daß das GPS-Signal in das S-Band transponiert wird.
  4. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Referenzebene (Pv) die vertikale Ebene ist.
  5. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß sie vor dem GPS-Empfänger (26) einen Schalter (30) umfaßt, der in einer ersten Stellung den Eingang des GPS-Empfängers (26) mit einer GPS-Antenne (31) am Boden verbindet, um die Position der Empfangsmittel am Boden zu bestimmen, und in einer zweiten Stellung den Eingang des GPS-Empfängers (26) mit dem von der Lenkrakete (21) empfangenen Signal (32) verbindet.
  6. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, daß der Schalter (30) vor dem Start der Rakete (21) in seiner ersten Stellung ist.
  7. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß das Zusammentreffen der Singularität (41) der anisotropen Antenne (23) mit der ersten Ebene (Ps) durch einen Peak (29) des von den Empfangsmitteln (28, 29, 30, 26) am Boden von der Lenkrakete (21) empfangenen Signals (32) definiert ist.
  8. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Rechenmittel die folgende Operation
    Figure 00140001
       ausführen, um den Winkel zwischen der ersten Ebene (Ps) der Referenzebene (Pv) zu berechnen.
    wobei ϕ der Winkel zwischen der ersten Ebene (Ps) und der Referenzebene (Pv) ist;
    MS der Vektor ist, der als Ursprung und als Ende die Referenzpunkte (M) der Rakete (21) bzw. (S) der Empfangsmittel (28, 29, 30, 26) am Boden hat,
    X ein Einheitsvektor ist, der zu dem Geschwindigkeitsvektor ( V) der Rakete (21) kolinear ist,
    Z 0 ein Vektor der Referenzebene ist, der zu dem Vektor X nicht kolinear ist, wobei die Referenzebene durch diesen letzteren verläuft.
  9. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Lenkrakete (21) eine Munition ist.
EP19970401026 1996-05-14 1997-05-07 Vorrichtung zur Rollwinkelbestimmung eines Flugkörpers, insbesondere einer Munition Expired - Lifetime EP0809084B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9605979A FR2748814B1 (fr) 1996-05-14 1996-05-14 Dispositif de determination de l'orientation en roulis d'un engin volant, notamment d'une munition
FR9605979 1996-05-14

Publications (2)

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EP0809084A1 EP0809084A1 (de) 1997-11-26
EP0809084B1 true EP0809084B1 (de) 2003-03-19

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FR (1) FR2748814B1 (de)

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Publication number Priority date Publication date Assignee Title
US6098547A (en) * 1998-06-01 2000-08-08 Rockwell Collins, Inc. Artillery fuse circumferential slot antenna for positioning and telemetry
FR2829593B1 (fr) * 2001-09-07 2003-11-21 Tda Armements Sas Procede de guidage d'un engin, notamment d'une munition
CN105180728B (zh) * 2015-08-27 2017-01-11 北京航天控制仪器研究所 基于前数据的旋转制导炮弹快速空中对准方法
CN112902768B (zh) * 2021-03-18 2022-09-09 星河动力(北京)空间科技有限公司 运载火箭滚转的控制方法、装置、运载火箭及存储介质

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Publication number Priority date Publication date Assignee Title
US3374967A (en) * 1949-12-06 1968-03-26 Navy Usa Course-changing gun-launched missile
US2980363A (en) * 1952-10-29 1961-04-18 Erick O Schonstedt Fluid gyroscope for indicating orientation of a spinning missile
DE1456151A1 (de) * 1965-11-10 1969-04-03 Messerschmitt Boelkow Blohm Verfahren zur Fernlenkung eines um seine Laengsachse rotierenden Flugkoerpers und Einrichtung zur Durchfuehrung des Verfahrens
NL8900117A (nl) * 1988-05-09 1989-12-01 Hollandse Signaalapparaten Bv Systeem voor het bepalen van de rotatiestand van een om een as roteerbaar voorwerp.
SE465439B (sv) * 1990-04-18 1991-09-09 Bofors Ab Anordning foer bestaemma rullvinkellaeget hos en roterande projektil
US5512902A (en) * 1994-04-18 1996-04-30 Northrop Grumman Corporation Stock locator system using GPS translator

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DE69719852T2 (de) 2003-12-04
FR2748814B1 (fr) 1998-08-14
DE69719852D1 (de) 2003-04-24
EP0809084A1 (de) 1997-11-26
FR2748814A1 (fr) 1997-11-21

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