EP0924490A1 - Tête chercheuse pour missile poursuiveur de cible - Google Patents

Tête chercheuse pour missile poursuiveur de cible Download PDF

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Publication number
EP0924490A1
EP0924490A1 EP98120542A EP98120542A EP0924490A1 EP 0924490 A1 EP0924490 A1 EP 0924490A1 EP 98120542 A EP98120542 A EP 98120542A EP 98120542 A EP98120542 A EP 98120542A EP 0924490 A1 EP0924490 A1 EP 0924490A1
Authority
EP
European Patent Office
Prior art keywords
coordinate system
target
reference coordinate
viewfinder
missile
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.)
Granted
Application number
EP98120542A
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German (de)
English (en)
Other versions
EP0924490B1 (fr
Inventor
Herbert Fisel
Ulrich Dr. Hartmann
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.)
Bodenseewerk Geratetechnik GmbH
Original Assignee
Bodenseewerk Geratetechnik GmbH
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Publication of EP0924490A1 publication Critical patent/EP0924490A1/fr
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Publication of EP0924490B1 publication Critical patent/EP0924490B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • F41G7/22—Homing guidance systems
    • F41G7/2253—Passive homing systems, i.e. comprising a receiver and do not requiring an active illumination of the target
    • 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
    • F41G7/2213—Homing guidance systems maintaining the axis of an orientable seeking head pointed at the target, e.g. target seeking gyro
    • 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
    • F41G7/2273—Homing guidance systems characterised by the type of waves
    • F41G7/2293—Homing guidance systems characterised by the type of waves using electromagnetic waves other than radio waves

Definitions

  • the invention relates to a search head for target-tracking missiles with one in one Finder frame arrangement gimballed by target placement signals to a target adjustable image resolution viewfinder and inertial sensors.
  • target missiles with an image-resolving viewfinder, e.g. in form of a Detector matrix with a two-dimensional arrangement of detector elements.
  • This Viewfinder is gimbaled in a viewfinder frame arrangement.
  • Inertial sensors respond to the angular movements of the missile in inertial space.
  • Torque generators act on the gimbals of the finder frame assembly and decouple the viewfinder from the thus determined angular movements of the missile.
  • On an image of an object scene is generated in the detector matrix. Through image processing This image contains target storage data of a target contained in the object scene, e.g. B. of an enemy aircraft to be attacked.
  • the target storage data give the Filing of the target from an optical axis of the viewfinder again.
  • Target finder data Based on these Target finder data is tracked to the target.
  • the tracking becomes Line of sight rotation rate determined.
  • the line of sight rotation rate Steering signals derived for the missile.
  • the viewfinder is opened using a helmet visor instructed a target recognized by the pilot.
  • the missile in the directed described way.
  • the viewing angle can then decrease to a value below the maximum permissible squint angle
  • the viewing angle to the target can be the maxi times the permissible squint angle of the viewfinder again, so that the target is lost.
  • the destination can also be temporarily covered by clouds.
  • the invention is based on the object of a search head for target-tracking Train missiles so that the viewfinder even with short-term impairment of the Target tracking is again aimed at the target once the impairment resumes has disappeared.
  • a reference coordinate system is thus constantly defined, the axis of which is aligned with the target. It's kind of virtual "viewfinder.
  • this reference coordinate system follows the target in exactly the same way that the viewfinder tracks the target based on the storage data. If the tracking movement of the finder after the target is impaired, be it that the viewfinder reaches its maximum allowable squint angle, or that the viewfinder no longer temporarily reaches the target, for example through clouds sees ", the reference coordinate system is tracked to a predicted target position.
  • the predicted target position is determined from the line of sight information determined immediately before the impairment occurs by means of a kind of extrapolation.
  • the viewfinder is aligned with the reference coordinate system which is continued in this way, and then the viewfinder will again capture the briefly lost target in its field of view, and the viewer will then be tracked exactly to the target by the image data that is returned from the image processing system.
  • Embodiments of the invention are the subject of the dependent claims.
  • FIG. 1 An aerial combat situation is shown in FIG. 1, in which a combat aircraft 10 on a narrow, circular-like trajectory 12, which is curved around a point 14 is.
  • An enemy fighter aircraft 16 targets moves on a likewise narrow, circular trajectory 18, which is around a point 20 which is relatively far away from point 14 is curved.
  • Both combat aircraft 10 and 16 pass through the circle-like trajectory clockwise.
  • FIG. 4 32 denotes a seeker of a target-tracking missile 34 (FIG. 5).
  • the viewfinder 32 contains an image-resolving detector 36 which responds to infrared radiation and an imaging optics 38.
  • the viewfinder 32 can be pivoted about a pitch axis 42 relative to the longitudinal axis 44 of the missile 34 by means of a finder frame arrangement 40.
  • the viewfinder 32 can be rotated about this longitudinal axis 44 (roll axis).
  • the viewfinder 32 has an optical axis 46. The angle between the optical axis 46 of the viewfinder 32 and the longitudinal axis 44 of the missile 34 is considered Squint angle ".
  • the squint angle is one
  • the viewfinder 32 sits behind a dome-shaped window that is transparent to infrared radiation, the Dome "48 in the tip of the missile 34.
  • the maximum permissible squint angle is determined, for example, by the fact that the imaging beam path of the imaging optics 38 still has to run at least partially through the dome 48.
  • the pilot must now try to fire the opposing fighter aircraft 16 as early as possible, i.e. in the example of FIG. 1 to be understood from large angles and the instruct target-tracking missile 34 on the target.
  • One limitation is the limitation of the Squint angle.
  • Fig. 2 shows a similar air combat situation as Fig. 1. Corresponding elements are provided with the same reference numerals as there. In this air combat situation lie the points 14A and 20A around which the two trajectories 14A and 18A are curved are close together.
  • the missile 34 after launch and release the steering system has the tendency to first with its longitudinal axis 44 in the Set the direction of the speed vector 50 of the combat aircraft 10. Thereby can the point of view of the target, even if it is at the time the Missile 34 is smaller than the maximum allowable squint angle and the viewfinder 32 of the Missile 34 can capture the enemy fighter 16, back on one Increase angle that is larger than the maximum allowable squint angle.
  • FIG. 3 the longitudinal axis (30 Aircraft Datum Line ") of the fighter aircraft 10.
  • a straight line 44A denotes the longitudinal axis of the missile 34 ( Missile boresight ") in the starting device, that is to say before the start.
  • the straight line 44A generally forms a small angle with the longitudinal axis 30.
  • the line of sight from the center of gravity 56 of the combat aircraft 10 to the target is denoted by 54.
  • This line of sight 54 forms one with the speed vector 50 Angle ⁇ ("Lag Angle").
  • 58 denotes the line of sight parallel to line of sight 54 from viewfinder 32 of missile 34 to the target.
  • This line of sight 58 forms an angle ⁇ ("missile off-boresight) with longitudinal axis 44A of missile 34 Angle at launch ").
  • 60 denotes the line of sight from the pilot's helmet visor to the target. This line of sight 60 is almost parallel to the lines of sight 54 and 58.
  • the line of sight 60 forms an angle ⁇ with the longitudinal axis 30 of the combat aircraft 10 (" Designator Off -Boresight Angle at Launch ").
  • 62 denotes the line of sight from the seeker 32 of the missile 34 to the target at the time of the rudder release after takeoff. This line of sight 62 is also par allel to the lines of sight 54, 58 and 60.
  • the line of sight 62 forms an angle ⁇ with the longitudinal axis 44 of the missile 34 (“off-boresight angle at control unlock”).
  • the angle ⁇ is smaller than the maximum permissible Squint angle.
  • the seeker 32 therefore detects the target and can track the target with a measured line-of-sight rotation rate.
  • Fig.3 is the missile 34 after launch with its longitudinal axis 44 in the essentially in the direction of the speed vector 50.
  • the line of sight angle ⁇ is temporarily> 90 ° and larger than the maximum allowable squint angle of the finder 32 (Fig. 5).
  • the viewfinder 32 The target then no longer "sees”. There is again an "impairment" of the Tracking one.
  • a missile coordinate system with the axis x s is fixed to the missile.
  • the x s axis corresponds to the longitudinal axis 44 of the missile.
  • a viewfinder coordinate system with the x h axis is viewfinder-fixed.
  • the x h axis corresponds to the optical axis of the finder 32.
  • a third coordinate system with the x r axis is a virtual reference coordinate system which is determined by calculation.
  • the viewfinder 32 that is to say an image-resolving electro-optical assembly, is above a Finder frame assembly 40 stored in missile 34.
  • a missile fixed, called inertial sensor unit At 62 is a missile fixed, called inertial sensor unit.
  • the inertial sensor unit 62 can with gyros or Laser gyroscopes or other inertial sensors that respond to rotation rates be.
  • the inertial sensor unit 62 delivers rotation rates p, q and r around three missile-fixed Axes.
  • the viewfinder 32 provides 64 image data at an output.
  • the image data are applied to an image processor 66.
  • the image processing 66 supplies storage data corresponding to a target storage in the viewfinder-fixed coordinate system, which can be represented by a vector ⁇ h .
  • These storage data ⁇ h are applied to means 68 for coordinate transformation.
  • the means 68 for coordinate transformation receive, as represented by connection 70, frame angles from the finder frame arrangement 62.
  • the means 68 for coordinate transformation also receive direction cosine data corresponding to a direction cosine matrix C r s .
  • the direction cosine matrix C r s reproduces the rotation from the reference coordinate system into the viewfinder coordinate system.
  • the means 68 for coordinate transformation then supply storage data related to the reference coordinate system.
  • This storage data ⁇ r is applied to an estimation filter 72.
  • the estimation filter 72 provides increments ⁇ y and ⁇ z of the line of sight rotation rate.
  • the increments ⁇ y and ⁇ z of the line-of-sight rotation rate are applied to means 74 for determining a reference coordinate system.
  • Initial squint angles ⁇ y0 and ⁇ z0 are applied to means 76 for determining an initial position of the reference coordinate system. In this initial position of the reference coordinate system, the squint angle ⁇ is still smaller than the maximum allowable squint angle.
  • the viewfinder 32 still detects the target.
  • the data of the initial position of the reference coordinate system are also applied to the means 74 for determining the reference coordinate system.
  • the reference coordinate system is represented by a quaternion with the elements I r0 , I r1 , I r2 and I r3 .
  • the initial position of the reference coordinate system is represented in a corresponding manner by a quaternion q r0 .
  • the means 74 for determining the reference coordinate system also effect normalization.
  • the inertial sensor unit 40 delivers the three angular velocities p, q and r around three missile-fixed axes.
  • the scanning of the angular velocities p, q and r in a fixed cycle provides angular increments ⁇ x , ⁇ y and ⁇ z .
  • the sampling with a fixed clock is symbolized in FIG. 7 by a three-pole switch 78.
  • the angular increments ⁇ x , ⁇ y and ⁇ z . are switched to means 80 for displaying a missile coordinate system.
  • the position of the missile coordinate system is based on an inertial system.
  • the missile coordinate system is also determined by a quaternion.
  • the quaternion has the elements I i0 , I i1 , I i2 and I i3 .
  • the quaternion representing the reference coordinate system from the means 74 and the quaternion representing the missile coordinate system from the means 80, ie the elements I i0 , I i1 , I i2 , and I i3 are "multiplied" by multiplication means 82.
  • the multiplication of the quaternions provides the relative position of the missile coordinate system and the reference coordinate system. This is again represented by a quaternion q r s .
  • the quaternion q r s which represents the relative position of the missile coordinate system and the reference coordinate system, is also applied to means 86 for forming the associated directional cosine matrix C r s .
  • the direction cosine matrix C r s provides the position of the reference coordinate system relative to the missile. As shown in FIG. 6, this direction cosine matrix C r s is applied to the means 68 for coordinate transformation. As a result, these means 68 for coordinate transformation deliver the storage data based on the reference coordinate system. Control elements for the finder frame arrangement 40 are obtained from the elements of the direction cosine matrix C r s , so that this movement of the missile 34 on the finder 32 is compensated for and the finder 32 is decoupled from the movements of the missile 34.
  • the described search head works as follows:
  • the viewfinder 32 In normal operation, when the viewfinder 32 detects the target and follows it with a squint angle below the maximum allowable squint angle, the viewfinder coordinate system coincides with the x h axis and the reference coordinate system with the x r axis. When the finder 32 has reached the maximum allowable squint angle, the finder 32 is stopped in its position. However, the reference coordinate system continues to move relative to the missile 34. This movement is determined by the line-of-sight rotation rate that existed when the maximum permissible squint angle was reached. This line of sight rotation rate provides further increments ⁇ y and ⁇ z on the means 74 for determining the reference coordinate system in the inertial space.
  • the reference coordinate system tracks a predicted position of the target. It is assumed that the line of sight rotation rate in the inertial space remains essentially constant for a short time.
  • the predicted position is obtained through a kind of extrapolation.
  • the position of the reference coordinate system relative to the missile is obtained by multiplying the quaternions by means of the multiplication means 82. If the squint angle of the reference coordinate system calculated in this way again becomes smaller than the maximum allowable squint angle, then the real finder 32 is aligned with this reference coordinate system.
  • the viewfinder 32 is thus aimed at the predicted position of the target. It can be assumed that this predicted position is in the vicinity of the position of the real target and thus the target in the field of view of the seeker 32 is detected again.
  • the seeker 32 initially loses the target after the launch of the missile 34, because the orientation of the missile 34 according to the speed vector 50 increases the viewing angle ⁇ to the target beyond the maximum allowable squint angle of the finder 32.
  • the axis x r of the reference system is, as described, aligned with the predicted position of the target.
  • the missile 34 is steered on the basis of the last line of sight rotation rate measured by the finder 32 in such a way that it pursues the target.
  • the missile 34 thus rotates towards the target.
  • the “viewing angle” of the “virtual viewfinder” represented by the reference coordinate system is reduced again.
  • the viewing angle falls below the maximum permissible squint angle.
  • the finder 32 can thereby be aligned again with the reference coordinate system and detects the target.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP98120542A 1997-12-19 1998-10-30 Tête chercheuse pour missile poursuiveur de cible Expired - Lifetime EP0924490B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19756763A DE19756763A1 (de) 1997-12-19 1997-12-19 Suchkopf für zielverfolgende Flugkörper
DE19756763 1997-12-19

Publications (2)

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EP0924490A1 true EP0924490A1 (fr) 1999-06-23
EP0924490B1 EP0924490B1 (fr) 2003-02-05

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EP98120542A Expired - Lifetime EP0924490B1 (fr) 1997-12-19 1998-10-30 Tête chercheuse pour missile poursuiveur de cible

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US (1) US6179246B1 (fr)
EP (1) EP0924490B1 (fr)
DE (2) DE19756763A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1094292A1 (fr) * 1999-10-21 2001-04-25 Bodenseewerk Gerätetechnik GmbH Procédé de guidage d'un missile vers une cible en cas de perte de cible

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US6281970B1 (en) * 1998-03-12 2001-08-28 Synergistix Llc Airborne IR fire surveillance system providing firespot geopositioning
US6422508B1 (en) * 2000-04-05 2002-07-23 Galileo Group, Inc. System for robotic control of imaging data having a steerable gimbal mounted spectral sensor and methods
DE10153094A1 (de) * 2001-10-30 2003-05-15 Bodenseewerk Geraetetech Optischer Sensor mit einem Sensorstrahlengang und einem parallel zu der optischen Achse des Sensorstrahlenganges emittierenden Laserstrahler
US7277558B2 (en) * 2001-11-27 2007-10-02 Lockheed Martin Corporation Method and system for estimating the position of moving objects in images
US6747738B2 (en) * 2002-07-01 2004-06-08 Raytheon Company Optical system with variable dispersion
US6863244B2 (en) * 2003-01-24 2005-03-08 The Boeing Company Mitigation of angular acceleration effects on optical sensor data
DE10346163A1 (de) * 2003-10-04 2005-05-04 Diehl Bgt Defence Gmbh & Co Kg Flugkörper zur Brandbekämpfung
US7773116B1 (en) 2006-02-08 2010-08-10 Lockheed Martin Corporation Digital imaging stabilization
US7409292B2 (en) * 2006-05-26 2008-08-05 Honeywell International Inc. Method and system for degimbalization of vehicle navigation data
US7925439B2 (en) * 2006-10-19 2011-04-12 Topcon Positioning Systems, Inc. Gimbaled satellite positioning system antenna
US8946606B1 (en) * 2008-03-26 2015-02-03 Arete Associates Determining angular rate for line-of-sight to a moving object, with a body-fixed imaging sensor
US20110304737A1 (en) * 2010-06-15 2011-12-15 Flir Systems, Inc. Gimbal positioning with target velocity compensation
DE102010024252B3 (de) * 2010-06-18 2011-12-22 Lkf-Lenkflugkörpersysteme Gmbh Vorrichtung zur passiven Ausrichtung einer Geräteplattform in einem durch ein Medium bewegten Körper
US9170070B2 (en) 2012-03-02 2015-10-27 Orbital Atk, Inc. Methods and apparatuses for active protection from aerial threats
US11947349B2 (en) 2012-03-02 2024-04-02 Northrop Grumman Systems Corporation Methods and apparatuses for engagement management of aerial threats
US9501055B2 (en) 2012-03-02 2016-11-22 Orbital Atk, Inc. Methods and apparatuses for engagement management of aerial threats
US11313650B2 (en) * 2012-03-02 2022-04-26 Northrop Grumman Systems Corporation Methods and apparatuses for aerial interception of aerial threats
US8786846B2 (en) 2012-07-05 2014-07-22 Matvey Lvovskiy Method for determination of head position relative to rectangular axes for observer equipped with head-mounted module
EP3671681A4 (fr) * 2017-11-30 2020-08-26 SZ DJI Technology Co., Ltd. Procédé, dispositif et drone de suivi de point de température maximale
US10410371B2 (en) * 2017-12-21 2019-09-10 The Boeing Company Cluttered background removal from imagery for object detection
CN117570778A (zh) * 2023-12-06 2024-02-20 中国工程物理研究院总体工程研究所 基于导引头失调角的目标定位方法

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FR2632072A1 (fr) * 1985-08-02 1989-12-01 Thomson Csf Procede et dispositif de detection de prochaine interposition de masque entre un avion et une cible, notamment dans un systeme de tir aux armes guidees par laser
EP0653600A1 (fr) * 1993-11-16 1995-05-17 Mafo Systemtechnik Dr.-Ing. A. Zacharias GmbH & Co. KG Procédé pour la détermination de la vitesse de rotation d'une ligne de visée à l'aide d'une autodirecteur fixé rigidement
EP0714013A1 (fr) * 1994-11-26 1996-05-29 Bodenseewerk Gerätetechnik GmbH Boucle de guidage pour missile
DE2841748C1 (de) * 1978-09-26 1996-07-04 Bodenseewerk Geraetetech Suchkopf, insbesondere zur automatischen Zielverfolgung
EP0797068A2 (fr) * 1996-03-21 1997-09-24 Israel Aircraft Industries, Ltd. Système de guidage pour missiles air-air

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DE2841748C1 (de) * 1978-09-26 1996-07-04 Bodenseewerk Geraetetech Suchkopf, insbesondere zur automatischen Zielverfolgung
FR2632072A1 (fr) * 1985-08-02 1989-12-01 Thomson Csf Procede et dispositif de detection de prochaine interposition de masque entre un avion et une cible, notamment dans un systeme de tir aux armes guidees par laser
EP0653600A1 (fr) * 1993-11-16 1995-05-17 Mafo Systemtechnik Dr.-Ing. A. Zacharias GmbH & Co. KG Procédé pour la détermination de la vitesse de rotation d'une ligne de visée à l'aide d'une autodirecteur fixé rigidement
EP0714013A1 (fr) * 1994-11-26 1996-05-29 Bodenseewerk Gerätetechnik GmbH Boucle de guidage pour missile
EP0797068A2 (fr) * 1996-03-21 1997-09-24 Israel Aircraft Industries, Ltd. Système de guidage pour missiles air-air

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1094292A1 (fr) * 1999-10-21 2001-04-25 Bodenseewerk Gerätetechnik GmbH Procédé de guidage d'un missile vers une cible en cas de perte de cible

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Publication number Publication date
DE19756763A1 (de) 1999-06-24
DE59807117D1 (de) 2003-03-13
EP0924490B1 (fr) 2003-02-05
US6179246B1 (en) 2001-01-30

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