JP2021148355A - Flying object guidance device, flying object, flying object system and flying object guidance method - Google Patents

Abstract

To reduce a guidance error by minimizing an error angle with a target at blind time.SOLUTION: According to a flying object guidance device, in the case of performing flying object guidance for guiding a flying object to be loaded to a rendezvous point with a target, the center of a target image is specified from an image which has imaged the target; an error angle with the target is detected based on a machine body attitude angle of the flying body; inertia information of the flying object is detected; change of the machine body movement of the flying object is estimated from the inertia information; the change of the target movement is estimated based on the estimation result of the machine body movement; the error angle with the target is estimated based on the estimation result of the machine body movement and the estimation result of the target movement; whether or not the flying object is in a blind region in which the error angle with the target cannot be acquired is determined; and, in a state where it is not in the blind region, the flying object is guided based on the detection result of the error angle with the target, and in a state where it is in the blind region, the flying object is guided based on the estimation result of the error angle with the target.SELECTED DRAWING: Figure 2

Description

Embodiments of the present invention relate to a flyer guidance device, a flyer, a flyer system, and a flyer guidance method.

In the flying object guidance device, in order to ensure that the flying object is associated with the target, it is one of the issues to minimize the error of the measured angle value with the target at the closest point (hereinafter referred to as the error angle). .. Normally, the movement of the target is observed by a seeker using an image sensor. Seekers are roughly classified into a radio wave method and a light wave method, and both methods have a blind problem that the angle measurement value with the target cannot be measured when the target is sufficiently close to the target.

As a method of minimizing the error angle with the target at the time of blinding and improving the meeting accuracy with the target, conventionally, it has been proposed to filter the target position information from the error angle with the target at the time of blinding. However, it is assumed that it is difficult for this filtering method to deal with the fact that the induction error at the time of blinding becomes large.

Japanese Unexamined Patent Publication No. 4-505 Japanese Unexamined Patent Publication No. 58-72897

As described above, the conventional flying object guiding device does not have an effective means for minimizing the error angle with the target at the time of blinding, and particularly deals with the point that the guiding error at the time of blinding becomes large. Is supposed to be difficult.

An object of the embodiment of the present invention is a flying object guiding device capable of minimizing an error angle with a target at the time of blinding, reducing an induction error, and improving the accuracy of associating the flying object with the target. The purpose is to provide the body, the flight body system, and the method of guiding the flight body.

According to the flying object guiding device according to the embodiment, when guiding the flying object to guide the mounted flying object to the meeting point with the target, the center of the target image is specified from the image image obtained by capturing the target. Then, the error angle from the target is detected based on the body posture angle of the flying body, the inertial information of the flying body is detected, and the change in the body motion of the flying body is estimated from the inertial information. The change in the target motion is estimated based on the estimation result of the aircraft motion, the error angle of the target is estimated based on the estimation result of the aircraft motion and the estimation result of the target motion, and the flying object is the target. Judge whether or not the error angle is not obtained, and guide based on the error angle when not in the blind area, and guide based on the estimated error angle when entering the blind area. This makes it possible to minimize the error angle with the target at the time of blinding, reduce the induction error, and improve the accuracy of associating the projectile with the target.

FIG. 1 is a block diagram showing a schematic configuration of a flying object to which the embodiment is applied. FIG. 2 is a block diagram showing a configuration of a flying object guiding device mounted on the flying object shown in FIG. FIG. 3 is a flowchart showing a processing flow of the flying body guiding device shown in FIG.

Hereinafter, embodiments will be described with reference to the drawings.
FIG. 1 is a block diagram showing a schematic configuration of a flying object to which the present embodiment is applied, and FIG. 2 is a block diagram showing a configuration of a flying object guiding device according to the present embodiment.

In FIG. 1, the flying object 1 includes a seeker 11, a guiding device 12, and a steering device 13. The seeker 11 is arranged at the head of the flying object 1 and includes an image sensor 111 that images a target, and the target image imaged by the image sensor 111 is sent to the guidance device 12. The guidance device 12 obtains the center of the target from the target image from the image sensor 111, and obtains the error angle from the target from the relationship between the target center direction and the attitude angle of the aircraft. The error angle from this target is sent to the steering device 13. The steering device 13 drives and controls the steering mechanism based on the target meeting point, the attitude angle of the aircraft, and the error angle between the target and the target.

The guidance device 12 includes an error angle detection processing unit 121, a target motion estimation processing unit 122, an inertial data detection processing unit 123, an airframe motion estimation processing unit 124, an error angle estimation processing unit 125, and a switching processing unit 126.

The error angle detection processing unit 121 identifies the center of the target image from the target image data imaged by the image sensor 111, and calculates the error angle from the target based on the aircraft attitude angle obtained by the steering device 13. The error angle from the target is sent to the steering device 13 through the switching processing unit 126. Further, when the flying object 1 enters the blind region and the center of the target image cannot be specified, an NG signal indicating that the target image cannot be specified (NG) is generated at that time. This NG signal is sent to the target motion estimation processing unit 122 and also to the switching processing unit 126.

On the other hand, the inertial data detection processing unit 123 detects the inertial data (angle, angular velocity, acceleration, etc.) of the aircraft from the attitude angle of the aircraft. The inertial data of the airframe is sent to the airframe motion estimation processing unit 124.

The airframe motion estimation processing unit 124 estimates how the airframe motion changes from the inertial data of the airframe. The aircraft motion estimation result is sent to the target motion estimation processing unit 122 and the error angle estimation processing unit 125.

When the target motion estimation processing unit 122 receives the NG signal from the image processing unit 121, the target motion estimation processing unit 122 determines the change in the target motion from the error angle with the target obtained immediately before and the aircraft motion estimation result acquired by the aircraft motion estimation processing unit 122. presume. The target motion estimation result is sent to the error angle estimation processing unit 125.

The error angle estimation processing unit 125 estimates the change in the target error angle from the target motion estimation result and the airframe motion estimation result. The error angle estimation result is sent to the steering device 13 through the switching processing unit 126.

The switching processing unit 126 selectively outputs the error angle and the error angle estimation result to the steering device 13 according to the presence or absence of the NG signal.

The image processing unit 121 selects a flying object designated by the ground control device (not shown) as a target.

In the above configuration, the processing operation of the guidance device 12 will be described with reference to FIG. Here, FIG. 3 is a flowchart showing a processing flow of the flying body guiding device shown in FIG.

First, in the target image obtained by the image sensor 111, the ratio of the plume to the target body increases as the flying object 1 approaches the target, and the center of the target image deviates from the target body and enters the blind area. The target center deviates from the target body.

Therefore, the error angle detection processing unit 121 determines whether or not the flying object 1 has entered the blind region determined from the relative positional relationship with the target (step S1). Until the flying object 1 enters the blind region, the error angle obtained from the target image is sent to the steering device 13 through the switching processing unit 126, and guidance control is performed toward the target meeting point based on the target center (step S2). ), Return to step S1. After the flying object 1 enters the blind region, an NG signal is output, the error angle estimation result is sent to the steering device 13 through the switching processing unit 126, and the error angle estimation result at the target center is directed toward the target meeting point. Guidance control is performed and the meeting is continued until the meeting (step S3).

As described above, according to the present embodiment, even after blinding, the optimum error angle estimation is executed from the error angle with the immediately preceding target, and the guidance control is performed based on the error angle estimated value. The error angle with the target in the above can be minimized to reduce the induction error, and the accuracy of associating the flying object 1 with the target can be improved.

The present invention is not limited to the above-described embodiment as it is, and at the implementation stage, the components can be modified and embodied within a range that does not deviate from the gist thereof. In addition, various inventions can be formed by an appropriate combination of the plurality of components disclosed in the above-described embodiment. For example, some components may be removed from all the components shown in the embodiments. In addition, components across different embodiments may be combined as appropriate.

1 ... Flying body,
11 ... Seeker, 111 ... Image sensor,
12 ... Guidance device, 121 ... Error angle detection processing unit, 122 ... Target motion estimation processing unit, 123 ... Inertia data detection processing unit, 124 ... Airframe motion estimation processing unit, 125 ... Error angle estimation processing unit, 126 ... Switching processing unit ,
13 ... Steering device.

Claims (4)

In the flying object guidance device that guides the mounted flying object to the meeting point with the target
An error angle detection unit that identifies the center of the target image from the image image of the target and detects the error angle with the target based on the attitude angle of the flying object.
Inertia information detection unit that detects inertial information of the flying object,
An airframe motion estimation unit that estimates changes in the airframe motion of the flying object from the inertial information,
The target motion estimation unit that estimates the change in the target motion based on the estimation result of the aircraft motion estimation unit, and the target motion estimation unit.
An error angle estimation unit that estimates an error angle with the target based on the estimation result of the aircraft motion and the estimation result of the target motion,
It is determined whether or not the flying object has entered the blind region where the error angle with respect to the target cannot be obtained, and in the state where the flying object is not in the blind region, it is guided based on the error angle detected by the error angle detection unit. , A flying object guiding device including a switching unit that guides based on an error angle estimated by the error angle estimating unit in a state of entering the blind region. It is a flying object equipped with a guidance device that guides to the meeting point with the target.
The guidance device is
An error angle detection unit that identifies the center of the target image from the image image of the target and detects the error angle with the target based on the attitude angle of the flying object.
Inertia information detection unit that detects inertial information of the flying object,
An airframe motion estimation unit that estimates changes in the airframe motion of the flying object from the inertial information,
The target motion estimation unit that estimates the change in the target motion based on the estimation result of the aircraft motion estimation unit, and the target motion estimation unit.
An error angle estimation unit that estimates an error angle with the target based on the estimation result of the aircraft motion and the estimation result of the target motion,
It is determined whether or not the flying object has entered the blind region where the error angle with respect to the target cannot be obtained, and in the state where the flying object is not in the blind region, it is guided based on the error angle detected by the error angle detection unit. , A flying object provided with a switching unit that guides based on the error angle estimated by the error angle estimation unit in the state of entering the blind region. It is a flying object system that controls the flying object equipped with a guidance device that guides it to the meeting point with the target.
The guidance device is
An error angle detection unit that identifies the center of the target image from the image image of the target and detects the error angle with the target based on the attitude angle of the flying object.
Inertia information detection unit that detects inertial information of the flying object,
An airframe motion estimation unit that estimates changes in the airframe motion of the flying object from the inertial information,
The target motion estimation unit that estimates the change in the target motion based on the estimation result of the aircraft motion estimation unit, and the target motion estimation unit.
An error angle estimation unit that estimates an error angle with the target based on the estimation result of the aircraft motion and the estimation result of the target motion,
It is determined whether or not the flying object has entered the blind region where the error angle with respect to the target cannot be obtained, and in the state where the flying object is not in the blind region, it is guided based on the error angle detected by the error angle detection unit. In the state of entering the blind region, a switching unit for guiding based on the estimated error angle estimated by the error angle estimation unit is provided.
A flying body system provided with a designation means for designating the target in the guidance device. In the flying object guidance method that guides the mounted flying object to the meeting point with the target,
The center of the target image is specified from the image image obtained by capturing the target, and the error angle with the target is detected based on the attitude angle of the flying object.
Detects the inertial information of the flying body and
The change in the airframe movement of the flying object is estimated from the inertial information, and the change is estimated.
Estimate the change in the target motion based on the estimation result of the aircraft motion,
Based on the estimation result of the aircraft motion and the estimation result of the target motion, the error angle with the target is estimated.
It is determined whether or not the flying object has entered the blind area where the error angle with the target cannot be obtained.
In the state where it is not in the blind area, it is guided based on the detection result of the error angle with the target, and in the state where it is in the blind area, it is guided based on the estimation result of the error angle with the target. Method.

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