KR101953352B1 - Gimbal Composite Sensor Homming System - Google Patents

Abstract

Disclosed is a gimbal composite sensor homing system which easily embodies alignment for information fusion between sensors. To this end, the present invention comprises: a semi-active laser beam sensing unit which receives a reflective signal reflected by a target corresponding to a laser beam projected towards the target from an external device; an infrared light video sensing unit which traces the target included in an infrared light video acquired with respect to a monitoring area; and a driving unit which is provided to aim the infrared light video sensing unit and the semi-active laser beam sensing unit simultaneously to the direction of the target.

Description

Gimbal Composite Sensor Homming System

The present invention relates to a gimbal composite sensor homing system, and more particularly, to a gimbal composite sensor homing system of a radar for moving a antenna and searching for a target.

Radars perform searches to detect targets and are used to quickly and accurately detect enemy mortars, vessels, vehicles, artillery and rockets, track and shoot down detected targets.

When the homing device of the conventional radar is equipped with two types of sensors, one sensor uses a gimbal type, and the other uses a strap-down method.

However, in the case of the strap down method, the tracking performance of the homing device is degraded due to the angle limitation, and the homing device equipped with the individual sensor is limited in tracking performance and vulnerable to the electronic warfare environment. In addition, when the distance is far, the set search angle is included in excess of the search zone, which causes the search to be performed outside the search zone, resulting in a loss of time of movement of the antenna for searching.

Accordingly, there is a need for a structure capable of simultaneously satisfying homing device tracking performance for a sensor to be used by simultaneously placing two types of sensors on one gimbal.

The present invention is obtained for a target detection unit for identifying a target to be guided by the guided projectile, a semi-active laser sensor unit for receiving a reflected signal reflected on the target according to a laser directed toward the target from an external device, and a surveillance area. An infrared image sensor unit for tracking the target included in the infrared image, a driving unit for simultaneously directing the infrared image sensor unit and the semi-active laser sensor unit in the direction of the target, and the semi-active laser sensor unit and the infrared image sensor unit It is an object of the present invention to provide an operation control unit for controlling the operation of the homing device by receiving the tracking information of the target from the target to easily implement the alignment for information fusion between the sensors.

In addition, since two kinds of sensors can be simultaneously mounted on the same plane in one gimbal, the part where the image is formed can be located on the same plane as the rotation axis, so that the sensor is controlled in an elevation direction through two motors mounted on the inside gimbal. In the azimuth direction there is another purpose to control the sensor via two motors of the outer gimbal.

Still other objects of the present invention may be further considered without departing from the following detailed description and effects thereof.

In order to solve the above problems, the complex sensor system according to an embodiment of the present invention, a target detector for identifying a target to be guided by the guided projectile, to the target according to the laser directed toward the target from an external device A semi-active laser sensor unit for receiving the reflected reflection signal, an infrared image sensor unit for tracking the target included in the infrared image obtained for the surveillance region of the target, the semi-active laser sensor unit and the infrared image sensor unit at the same time And a driving unit for directing in the direction of the target and an operation control unit for controlling the operation of the homing device by receiving the tracking information of the target from the semi-active laser sensor unit and the infrared image sensor unit.

Here, the semi-active laser sensor unit, a semi-active laser optical system for receiving the laser light reflected on the target, consisting of a plurality of detectors, the semi-active laser detection unit for detecting a laser signal from the laser light and the laser signal A semi-active laser acquisition unit for converting the signal into an electrical signal and adjusting the gain to convert the gain into a first digital signal.

Here, the infrared image sensor unit is provided with an infrared lens module, an infrared image optical system receiving an infrared image photographing the surveillance region of the target, an image obtained by capturing an image of the surveillance region of the target from the infrared imaging optical system to obtain an electrical signal And an infrared image acquisition unit for converting the digital signal into a second digital signal.

Here, the drive unit is a gimbal structure for the gimbal driving of the homing device, by dividing the gimbal structure into a plurality of areas, the motor unit located in each of the divided areas, the amount of planar rotation of the gimbal structure is measured. It includes a gyro sensor unit and a servo control unit for controlling the drive of the gimbal using the value measured by the gyro sensor unit.

Here, the operation control unit, in the homing device of the guided projectile in operation, designates the surveillance region of the target according to the distance for identifying the target of the infrared image sensor unit.

Here, the target detector checks the target to be intercepted by the guided projectile before launching the guided projectile, and inputs position information of the target.

Here, the gimbal structure, the external gimbal assembly for controlling the infrared image sensor unit and the semi-active laser sensor unit in the azimuth direction and the infrared image sensor unit and the semi-active laser sensor unit in the interior of the outer gimbal assembly in an elevation angle. And an internal gimbal assembly for control, the gimbal assembly further comprising a plurality of angle sensors positioned in each of the divided regions of the gimbal to direct the infrared image sensor portion and the semi-active laser sensor portion in the direction of the target at the same time; The outer gimbal assembly includes a first motor and a second motor on both sides of the outer gimbal assembly, and the inner gimbal assembly includes a third motor and a fourth motor on both sides of the inner gimbal assembly.

Here, the complex sensor homing system exchanges electrical signals with the driving unit, and pre-processes information of the infrared image sensor unit and the semi-active laser sensor unit and receives the pre-processing unit and the pre-processing unit to encode and decode the information. The apparatus may further include a signal processor that detects the target by using the encoded and decoded information and extracts the driving angle information from the driver.

Here, the pre-processing unit, the synchronization performing unit and the infrared image performing timing synchronization of the signal using the first digital signal received from the semi-active laser acquisition unit and the second digital signal received from the infrared image acquisition unit. It includes an image correction unit for correcting the nonuniformity of.

Here, the semi-active laser detector is composed of a plurality of divided detectors, the first detector is located in the first quadrant, the second detector is located in the second quadrant, the third detector is located in the third quadrant And a fourth detector located in the fourth quadrant.

Here, the semi-active laser acquisition unit, a transfer amplifier for receiving the photocurrent of the semi-active laser signal as an input from the semi-active laser detector to output a voltage signal, a digital attenuator for attenuating the power of the signal so that the gain of the voltage signal is constant And a data processor for controlling the digital attenuator and transferring the value converted into the first digital signal to the preprocessor along with the second digital signal of the infrared image acquisition unit.

As described above, according to embodiments of the present invention, a semi-active laser sensor unit for receiving a reflected signal reflected on the target according to a laser directed toward the target from an external device, and an infrared image obtained with respect to a surveillance region By providing an infrared image sensor unit for tracking the target included in the infrared image sensor unit and a drive unit for directing the semi-active laser sensor unit in the direction of the target at the same time it is possible to easily implement the alignment for information fusion between the sensors.

In addition, since two kinds of sensors can be simultaneously mounted on the same plane in one gimbal, the part where the image is formed can be located on the same plane as the rotation axis, so that the sensor is controlled in an elevation direction through two motors mounted on the inside gimbal. In the azimuth direction, the sensor can be controlled via two motors of the external gimbal.

Accordingly, it is easy to design the optical system of each sensor according to the operating environment, and the offset of the processed information can be minimized because the sensors are on the same axis.

Even if the effects are not explicitly mentioned herein, the effects described in the following specification and the tentative effects expected by the technical features of the present invention are treated as described in the specification of the present invention.

1 is a block diagram showing a gimbal composite sensor homing system 20 according to an embodiment of the present invention.
2 is a block diagram showing a semi-active laser sensor unit 100 of the gimbal composite sensor homing system 20 according to an embodiment of the present invention.
3 is a block diagram illustrating an infrared image sensor unit 200 of the Gimbal composite sensor homing system 20 according to an embodiment of the present invention.
4 is a view showing a gimbal composite sensor homing device 10 according to an embodiment of the present invention.
5 is a view showing a gimbal composite sensor homing device 10 according to an embodiment of the present invention.
6 is a diagram illustrating a semi-active laser detection unit 120 of the gimbal composite sensor homing device 10 according to an embodiment of the present invention.
7 is a diagram illustrating a semi-active laser acquisition unit 130 of the gimbal composite sensor homing device 10 according to an embodiment of the present invention.
8 is a flowchart illustrating a gimbal composite sensor homing method according to an embodiment of the present invention.
9 is a flowchart illustrating a gimbal composite sensor homing method according to an embodiment of the present invention.
FIG. 10 is a diagram illustrating a same gimbal composite sensor complex sensor homing method according to an exemplary embodiment of the present invention.
11 is a control diagram illustrating a control method of the same Gimbal composite sensor complex sensor homing device according to an embodiment of the present invention.

EMBODIMENT OF THE INVENTION Hereinafter, the gimbal complex sensor homing system which concerns on this invention is demonstrated in detail with reference to drawings. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In addition, in order to clearly describe the present invention, parts irrelevant to the description are omitted, and the same reference numerals in the drawings indicate the same members.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be.

The suffixes "module" and "unit" for components used in the following description are given or mixed in consideration of ease of specification, and do not have distinct meanings or roles.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The present invention relates to a gimbal composite sensor homing system.

1 is a block diagram showing a gimbal composite sensor homing system 20 according to an embodiment of the present invention.

Referring to FIG. 1, the Gimbal composite sensor homing system 20 includes a semi-active laser sensor 100, an infrared image sensor 200, a driver 300, a preprocessor 400, a signal processor 500, and a target. The detector 700 and the operation controller 800 are included.

Gimbal composite sensor homing system 20 is a system that tracks a target by detecting a radar wave emitted by the target or a radar wave reflected from the target. There are three types of radar homing: active, semi-active, and passive. The active method is to attach a radar wave to a target by itself and to detect and reflect the reflected wave. By firing radar waves outside the aircraft, the aircraft itself can be made compact. In passive mode, homing towards the radar wave that the target fires allows for homing from a distance. Gimbal composite sensor homing system 20 according to an embodiment of the present invention is to use a semi-active method to launch a semi-active radar wave outside the aircraft.

The Gimbal composite sensor homing system 20 performs a search to detect a target on a radar, and is used to quickly and accurately detect the location of ships, vehicles, artillery and rockets as well as to track and shoot down detected targets. It is necessary for radar to become. It is easy to design the optical system of each sensor according to the operating environment, and the offset of the processed information can be minimized because the sensors are on the same axis.

Gimbal composite sensor homing system 20 according to an embodiment of the present invention is a structure for applying a semi-active laser (SAL) sensor and an infrared image (Image Infrared) sensor to the homing device at the same time.

The conventional casein grain method has a limited field of view because an image signal is introduced through a reflector. Since the SAL sensor is mounted through the support in front of the same gimbal, the infrared image is blocked by the support.

Gimbal composite sensor homing system 20 according to an embodiment of the present invention can be mounted on the same plane at the same time two sensors on one gimbal to position the image forming the same as the rotation axis, the infrared sensor is uncooled Because of the method, it can be designed small and light.

The semi-active laser sensor unit 100 receives a reflected signal reflected from the target according to a laser directed toward the target from an external device.

The infrared image sensor unit 200 tracks the target included in the infrared image acquired for the surveillance area.

The driver 300 simultaneously directs the infrared image sensor unit and the semi-active laser sensor unit in the direction of the target.

The driver 300 is a gimbal structure for gimbal driving of the homing device.

The driving unit 300 includes a motor unit 330, a gyro sensor unit 340, and a servo control unit 350.

The motor unit 330 divides the gimbal structure into a plurality of regions, and is located in each of the divided regions.

The gyro sensor unit 340 measures the amount of rotation of the gimbal structure on a plane.

The servo controller 350 controls the driving of the gimbal using the value measured by the gyro sensor unit. Specifically, it controls the four position sensors and four motors of gimbal serves to drive gimbal.

The preprocessor 400 transmits and receives an electrical signal with the driver, and pre-processes information of the infrared image sensor unit and the semi-active laser sensor unit to encode and decode the information. That is, the timing of the signal is synchronized using the digital signal processed by the IIR acquisition unit and the SAL acquisition unit, the non-uniformity correction is performed by using the background image to correct the non-uniformity of the infrared image, and the bad pixel of the infrared detector. Calibrate

The preprocessor 400 includes a synchronization performer 410 and an image corrector 430, and the synchronization performer 410 includes the first digital signal and the infrared image acquirer received from the semi-active laser acquirer. The timing synchronization of the signal is performed using the second digital signal received from the digital signal.

The image corrector 430 corrects the nonuniformity of the infrared image.

The signal processor 500 detects the target by using the encoded and decoded information received from the preprocessor, and extracts the driving angle information from the driver. Using the SAL signal and infrared image signal, the target is detected and the angle information is extracted to maintain the angle tracking.

In addition, the gimbal composite sensor homing system 20 according to an embodiment of the present invention may include a power supply consisting of a device for supplying power to each component, a power design for minimizing image degradation due to noise.

The target detector 700 identifies a target to which the guided projectile is to intercept. Before launching the guided projectile, the guided projectile identifies the target to be intercepted, and inputs position information of the target.

The operation control unit 800 receives the tracking information of the target from the semi-active laser sensor unit and the infrared image sensor unit and controls the operation of the homing device.

In the homing device of the guided projectile under operation, the surveillance region of the target is designated according to a distance for identifying the target of the infrared image sensor unit. Specifically, when the target information is acquired from the aircraft's electro-optical target detection equipment (EOTS) before launching the guided projectile, the positional information of the target is immersed in the guided projectile and passed through a self-check, and then launches the missile.

The guided projectile tracks the target by receiving the reflected signal of the laser signal irradiated from the aircraft in the end-guided stage after the initial guided and mid-term guided stages.

When the infrared image sensor reaches a distance that can identify the target, the infrared region sensor designates a region of interest (ROI) based on the angle information of the target.

The infrared image sensor detects the target, tracks it, identifies it, and then selects and destroys the target where the target is most vulnerable.

2 is a block diagram showing a semi-active laser sensor unit 100 of the gimbal composite sensor homing system 20 according to an embodiment of the present invention.

Referring to FIG. 2, the semi-active laser sensor unit 100 includes a semi-active laser optical system 110, a semi-active laser detection unit 120, and a semi-active laser acquisition unit 130.

Semi-active lasers are devices that emit electromagnetic waves in the infrared, visible, and ultraviolet regions by using induced radiation. Monochromatic light waves with the same phase are generated, and the laser beams have the same wavelength, and the ridges and valleys of the waves coincide with each other so that the light beams do not spread far and can concentrate energy at a minute point.

The semi-active laser optical system 110 receives the laser light reflected by the target. It is preferable to include a lens barrel, a spherical and an aspherical lens, and a component for receiving a laser signal.

The semi-active laser detection unit 120 is composed of a plurality of divided detectors, and detects a laser signal from the laser light. Specifically, it is preferable to be divided into four planes, and consists of a detector consisting of four quadrants.

The semi-active laser acquisition unit 130 converts the laser signal into an electrical signal and adjusts the gain to convert the laser signal into a first digital signal. That is, the laser signal input to the quadrant divided into four planes is converted into an electrical signal, the gain is adjusted, and digital conversion is performed.

3 is a block diagram illustrating an infrared image sensor unit 200 of the Gimbal composite sensor homing system 20 according to an embodiment of the present invention.

Referring to FIG. 3, the infrared image sensor unit 200 includes an infrared image optical system 210, an infrared image detector 220, and an infrared image acquirer 230.

Infrared imaging is a method of viewing an image of an object by infrared light instead of visible light.

The infrared imaging optical system 210 is provided with an infrared lens module, and receives an infrared image photographing the surveillance region of the target. It is preferable that a lens barrel, a spherical lens, and an aspherical lens are formed of a component that receives an infrared image.

The infrared image detector 220 acquires an image of the surveillance region of the target from an infrared image optical system and converts the image into an electrical signal. It is preferred to consist of a detector of uncooled LWIR 640 x 480 pixels.

The infrared image acquisition unit 230 adjusts the gain of the image signal converted into the electrical signal and converts it into a second digital signal. That is, the image signal converted into an electrical signal is converted into a digital signal after gain adjustment.

4 is a view showing a gimbal composite sensor homing device 10 according to an embodiment of the present invention.

Referring to FIG. 4, the gimbal composite sensor homing device 10 includes a semi-active laser sensor unit 100, an infrared image sensor unit 200, and a driver 300.

The semi-active laser sensor unit 100 receives a reflected signal reflected from the target according to a laser directed toward the target from an external device.

The infrared image sensor unit 200 tracks the target included in the infrared image acquired for the surveillance area.

The lens of the semi-active laser sensor unit 100 and the lens of the infrared image sensor unit 200 are aligned on the same axis.

The driver 300 simultaneously directs the infrared image sensor unit and the semi-active laser sensor unit in the direction of the target.

The driver 300 is a gimbal structure for gimbal driving of the homing device. The Kimbal structure is a structure where the radar searcher can look around.

Radar explorers are often mounted on a gimbal structure that can be seen from all directions. Some low-cost missiles, however, require the missile's searcher to face the front in order to simplify the structure as much as possible. This is a strapdown method.

The gimbal structure is a component for directing the IIR sensor and the SAL sensor simultaneously in the target direction and includes four motors, four angle sensors and a gyro sensor. It consists of the inner gimbal and the outer gimbal, and the outer gimbal controls the inner gimbal by using a motor fixed to the body of the guided projectile. Using the motor fixed to the inner gimbal, IIR sensor and SAL sensor are directed in the elevation direction. The gyro sensor is used to stabilize gimbal for the body movement of the guided projectile.

The driving unit 300 includes a motor unit 330, a gyro sensor unit 340, and a servo control unit 350.

The motor unit 330 divides the gimbal structure into a plurality of regions, and is located in each of the divided regions. In one embodiment of the present invention, the motor unit 330 is preferably composed of four motors (331 to 334).

In addition, the four motors 331 to 334 each include a drive torque motor 335 and a position sensor encoder 336.

The drive torque motor 335 is an electric motor using torque generated within a limited rotational angle range or in a confined state. Since it does not rotate, special consideration must be given to the temperature rise of the windings. DC and AC motors except synchronous motors are used.

The position sensor encoder 336 detects the state of the position sensor and forms a telegram based on these input signals, and transmits the telegram to a Balise or a communication medium. Position sensor is a kind of position sensor that measures the quantity with the dimension of length and turns on / off at a certain position. In principle, there are mechanical, electrical, magnetic and optical sensors.

The gimbal assembly is composed of an inner gimbal assembly 320 and an outer gimbal assembly 310 and the outer gimbal assembly 310 controls the inner gimbal assembly 320 using a motor fixed to the body of the guided projectile. The motor fixed to the inner gimbal assembly 320 directs the IIR sensor and the SAL sensor in an elevation direction.

The gyro sensor unit 340 measures the amount of rotation of the gimbal structure on a plane. In addition, the gimbal is stabilized using a gyro sensor for the fuselage movement of the guided projectile.

The servo controller 350 controls the driving of the gimbal using the value measured by the gyro sensor unit.

The gimbal structure of the driving unit 300 includes an external gimbal assembly 310 for controlling the infrared image sensor unit and the semi-active laser sensor unit in the azimuth direction and the infrared image sensor unit and the semi-active inside the outer gimbal assembly. Consists of the inner gimbal assembly 320 for controlling the laser sensor in an elevation direction,

The infrared image sensor unit and the semi-active laser sensor unit may further include a plurality of angle sensors positioned in each of the divided regions of the gimbal to direct the target in the direction of the target.

The outer gimbal assembly 310 includes a first motor 331 and a second motor 332 on both sides of the outer gimbal assembly, and the inner gimbal assembly 320 includes a third motor on both sides of the inner gimbal assembly. 333 and a fourth motor 334.

5 is a view showing a gimbal composite sensor homing device 10 according to an embodiment of the present invention.

Referring to FIG. 5, the gimbal composite sensor homing device 10 includes a semi-active laser sensor unit 100, an infrared image sensor unit 200, and a driver 300.

The semi-active laser sensor unit 100 receives a reflected signal reflected from the target according to a laser directed toward the target from an external device.

The infrared image sensor unit 200 tracks the target included in the infrared image acquired for the surveillance area.

The driver 300 simultaneously directs the infrared image sensor unit and the semi-active laser sensor unit in the direction of the target.

The driver 300 is a gimbal structure for gimbal driving of the homing device.

The motor unit 330 divides the gimbal structure into a plurality of regions, and is located in each of the divided regions.

The preprocessor 400 transmits and receives an electrical signal with the driver, and pre-processes information of the infrared image sensor unit and the semi-active laser sensor unit to encode and decode the information. That is, the timing of the signal is synchronized using the digital signal processed by the IIR acquisition unit and the SAL acquisition unit, the non-uniformity correction is performed by using the background image to correct the non-uniformity of the infrared image, and the bad pixel of the infrared detector. Calibrate It is preferable that the image preprocessing board is configured.

The preprocessor 400 includes a synchronization performer 410 and an image corrector 430, and the synchronization performer 410 includes the first digital signal and the infrared image acquirer received from the semi-active laser acquirer. The timing synchronization of the signal is performed using the second digital signal received from the digital signal.

The semi-active laser optical system 110 receives the laser light reflected by the target. It is preferable to include a lens barrel, a spherical and an aspherical lens, and a component for receiving a laser signal. In detail, the semi-active laser optical system 110 is configured by sequentially arranging the lens barrel 111, the spherical lens 113, and the aspherical lens 115.

The semi-active laser detection unit 120 is composed of a plurality of divided detectors, and detects a laser signal from the laser light. Specifically, it is preferable to be divided into four planes, and consists of a detector consisting of four quadrants. The semi-active laser detector 120 is preferably implemented as a laser detector.

The semi-active laser acquisition unit 130 converts the laser signal into an electrical signal and adjusts the gain to convert the laser signal into a first digital signal. That is, the laser signal input to the quadrant divided into four planes is converted into an electrical signal, the gain is adjusted, and digital conversion is performed. The semi-active laser acquisition unit 130 is preferably implemented as a signal acquisition circuit card, the semi-active laser detection unit 120 is located in the semi-active laser acquisition unit 130.

The infrared imaging optical system 210 is provided with an infrared lens module, and receives an infrared image photographing the surveillance region of the target. It is preferable that a lens barrel, a spherical lens, and an aspherical lens are formed of a component that receives an infrared image. In detail, the infrared imaging optical system 210 includes a lens barrel 211, a spherical lens 213, and an aspherical lens 215 sequentially arranged.

The infrared image detector 220 acquires an image of the surveillance region of the target from an infrared image optical system and converts the image into an electrical signal. It is preferred to consist of a detector of uncooled LWIR 640 x 480 pixels.

The infrared image acquisition unit 230 adjusts the gain of the image signal converted into the electrical signal and converts it into a second digital signal. That is, the image signal converted into an electrical signal is converted into a digital signal after gain adjustment. It is preferably implemented with an image acquisition circuit card.

In addition, the gimbal composite sensor homing device 10 according to an embodiment of the present invention includes an infrared light receiving unit of the dome structure 600, it can protect the internal device.

6 is a diagram illustrating a semi-active laser detection unit 120 of the gimbal composite sensor homing device 10 according to an embodiment of the present invention.

The semi-active laser detection unit 120 is composed of a plurality of divided detectors, the first detector 120a located in the first quadrant of the semi-active laser detection unit, the second detector 120b located in the second quadrant, and the third A third detector 120c located in the quadrant and a fourth detector 120d located in the fourth quadrant.

The sum of the energies received by the semi-active laser detector 120 is represented by the sum of the energies detected by the first to fourth detectors.

In addition, the azimuth error may be obtained by excluding the sum of the second detector 120b and the fourth detector 120d from the sum of the first detector 120a and the third detector 120c, and the elevation error is determined by the first detector ( The sum of 120a and the second detector 120b may be obtained by excluding the sum of the third detector 120c and the fourth detector 120d.

7 is a diagram illustrating a semi-active laser acquisition unit 130 of the gimbal composite sensor homing device 10 according to an embodiment of the present invention.

Referring to FIG. 7, the semi-active laser acquirer 130 includes a transfer amplifier 131, digital attenuators 132 and 134, and a data processor 136.

The transfer amplifier 131 receives a photocurrent of the semi-active laser signal as an input from the semi-active laser detector and outputs a voltage signal.

Digital attenuators 132 and 134 attenuate the power of the signal such that the gain of the voltage signal is constant.

The data processor 136 controls the digital attenuator and transmits the value converted into the first digital signal to the preprocessor along with the second digital signal of the infrared image acquisition unit.

Since the respective signals of the first detector 120a, the second detector 120b, the third detector 120c and the fourth detector 120d are outputted, the semi-active laser acquisition unit 130 is a quadrant signal. To process The signal is output according to the amount of laser irradiation, so very small values initially.

The transfer amplifier 131 first amplifies the value using a current voltage amplifier capable of amplifying while converting the current value into a voltage value first, and performs the amplification again in the voltage amplifier 133.

The data processor 136 is preferably implemented as an FPGA, and checks the digitally converted value for each channel in the FPGA to control the digital attenuator to adjust the range of the input value of the analog-to-digital converter (ADC) 135. The digitally converted values from the FPGA are synchronized with the infrared image digital values and passed to the signal processor.

The analog-to-digital converter (ADC) 135 is a device that converts an electrical analog amount into a digital amount. It is used to input biometric phenomenon converted into voltage or current value, measurement value of automatic analyzer, etc. into digital electronic calculator.

Conventionally, the gain of the voltage amplifier is adjusted by selecting a plurality of feedback resistors using switches to adjust the gain in the voltage amplifier 133. In this method, since the feedback resistor is connected to the other resistance value of the voltage amplifier circuit and adjusts the gain of the voltage amplifier, the error of the gain value is severe. In the present invention, it is possible to maintain accurate attenuation by using the digitally controlled attenuator 134 for low frequency signals.

8 is a flowchart illustrating a gimbal composite sensor homing method according to an embodiment of the present invention.

Gimbal composite sensor homing method according to an embodiment of the present invention starts in step (S110) to identify the target to intercept in the target detector.

In step S120, the semi-active laser sensor unit receives the semi-active laser reflection signal reflected by the target according to the laser directed toward the target from an external device.

In operation S130, the infrared image sensor unit tracks the target included in the infrared image acquired for the surveillance area.

In step S140, the driving unit simultaneously directs the infrared image sensor unit and the semi-active laser sensor unit in the direction of the target.

In operation S150, the preprocessor exchanges an electrical signal with the driver, and pre-processes information of the infrared image sensor unit and the semi-active laser sensor unit to encode and decode the information.

The encoding and decoding of the information (S150) may include timing of a signal using a first digital signal received from the semi-active laser acquisition unit and a second digital signal received from the semi-active laser acquisition unit. Synchronizing and the image correction unit to correct the non-uniformity of the infrared image.

In step S160, the signal processor detects the target using the encoded and decoded information received from the preprocessor, extracts the driving angle information from the driver, and the gimbal complex sensor homing method ends.

9 is a flowchart illustrating a gimbal composite sensor homing method according to an embodiment of the present invention.

9, in operation S120, receiving a reflected signal reflected from the target according to a laser directed toward the target, tracking the target included in the infrared image acquired for the surveillance region (S130). It will be described in detail.

In step S121, the semi-active laser optical system receives the laser light reflected on the target,

In step S122, the semi-active laser detection unit detects the semi-active laser signal from the laser light.

In step S123, the semi-active laser acquisition unit converts the semi-active laser signal into an electrical signal and adjusts gain to convert it into a first digital signal. Here, the semi-active laser detector is composed of a plurality of divided detectors, the first detector is located in the first quadrant, the second detector is located in the second quadrant, the third detector is located in the third quadrant And a fourth detector located in the fourth quadrant.

In the converting of the semi-active laser signal into an electrical signal and adjusting the gain into a first digital signal (S123), a transfer amplifier receives a photocurrent of the semi-active laser signal as an input from the semi-active laser detector and receives a voltage signal. Outputting the digital attenuator to attenuate power of the signal such that a gain of the voltage signal is constant, and a data processor controls the digital attenuator, and converts the value converted into the first digital signal into the first image. And transmitting the two digital signals to the preprocessor.

In step S131, the infrared imaging optical system receives an image of photographing the surveillance region of the target.

In step S132, the infrared image detector obtains an image of the surveillance region of the target from the infrared imaging optical system and converts the image into an electrical signal.

In step S133, the infrared image acquisition unit adjusts the gain of the image signal converted into the electrical signal and converts it into a second digital signal.

FIG. 10 is a diagram illustrating a same gimbal composite sensor complex sensor homing method according to an exemplary embodiment of the present invention.

The aircraft 1 identifies the chariot 40 targeted by the electro-optical target detection equipment (EOTS) mounted on the aircraft. The confirmed vehicle target information is mounted on the guided projectile 10.

The laser indicator 30 is used to indicate the target, and the complex sensor homing device receives the SAL reflected signal from the target.

The guided projectile receives the laser signal using the SAL sensor and keeps track of the detection. When the vehicle is in close proximity to the target, the guided projectile selectively strikes the correct part of the target using the infrared image sensor.

11 is a control diagram illustrating a control method of the same Gimbal composite sensor complex sensor homing device according to an embodiment of the present invention.

Infrared image information of the target is input through the device's dome. Infrared image acquisition unit collects infrared energy through a detector and converts it into an electrical signal.

In image preprocessing, image information is input through detector control and a uniform image is obtained by correcting uneven portions. It performs preprocessing to improve the image quality and transmits the image to the image processing board. In the image processing board, the target is captured by using the received image, the tracking is performed, and the tracking result is transmitted to the operation mode control part to generate the necessary control command to maintain the tracking.

Using the tracking information, the tracking controller of the servo control board is driven to control the gimbal. In system communication, searcher status information transmission, target information, and searcher control command reception are performed.

The image received for external monitoring is converted to analog and transmitted to the aircraft via data link to RS-170.

In addition, a computer program recorded on a non-transitory computer readable storage medium including computer program instructions executable by a processor to perform a complex sensor homing method, wherein the computer program instructions are executed. Identifying a target to be intercepted by a target detection unit, receiving a reflected signal reflected from the target by a semi-active laser sensor unit according to a laser directed toward the target from an external device, and the infrared image sensor unit is connected to the surveillance area Tracking the target included in the acquired infrared image and directing the driving unit simultaneously directing the infrared image sensor unit and the semi-active laser sensor unit in the direction of the target may be performed.

The above description is only an embodiment of the present invention, and those skilled in the art may implement the present invention in a modified form without departing from the essential characteristics of the present invention. Therefore, the scope of the present invention should not be limited to the above-described examples, but should be construed to include various embodiments within the scope equivalent to those described in the claims.

10: gimbal composite sensor homing device
100: semi-active laser sensor
200: infrared image sensor
300: drive unit
400: preprocessing unit
500: signal processing unit
20: Gimbal composite sensor homing system
700: target detector
800: operation control unit

Claims (11)

A target detector for identifying a target to be intercepted by the guided projectile; A semi-active laser sensor unit for receiving a reflected signal reflected from the target according to a laser directed toward the target from an external device; An infrared image sensor unit for tracking the target included in the infrared image obtained with respect to the surveillance region of the target; A driving unit for simultaneously directing the semi-active laser sensor unit and the infrared image sensor unit in the direction of the target; And a control unit for controlling operation of a homing device by receiving tracking information of the target from the semi-active laser sensor unit and the infrared image sensor unit. Including;
The target detection unit checks a target to be intercepted by the guided projectile before launching the guided projectile, inputs position information of the target,
The driving unit includes a gimbal structure for driving gimbal of the homing device,
The gimbal structure, the outer gimbal assembly; And an inner gimbal assembly located inside the outer gimbal assembly; And a plurality of angle sensors positioned at each of the divided regions of the gimbal structure to direct the infrared image sensor portion and the semi-active laser sensor portion in the direction of the target.
The infrared image sensor unit and the semi-active laser sensor unit is located in close contact with the central portion of the inner gimbal assembly, the same distance from the center of the external light receiving unit,
The outer gimbal assembly, the infrared image sensor unit and the semi-active laser sensor unit controls the azimuth direction, the inner gimbal assembly controls the infrared image sensor unit and the semi-active laser sensor unit in an elevation direction,
The outer gimbal assembly includes a first motor and a second motor on both sides of the outer gimbal assembly, and controls the inner gimbal assembly using the first motor and the second motor,
The inner gimbal assembly includes a third motor and a fourth motor on both sides of the inner gimbal assembly, the first motor and the second motor are located on a first collinear line, and the third motor and the fourth motor Located on a second collinear line and the first collinear line and the second collinear line are located vertically, the intersection point is the center of the external light receiving unit,
The semi-active laser sensor unit, a semi-active laser optical system for receiving the laser light reflected by the target; A semi-active laser detector configured to be divided into a plurality of detectors and detecting a laser signal from the laser light; And a semi-active laser acquisition unit converting the laser signal into an electrical signal and adjusting gain to convert the laser signal into a first digital signal.
The semi-active laser detector includes a first detector located in a first quadrant of the semi-active laser detector, a second detector located in a second quadrant, a third detector located in a third quadrant, and a fourth detector located in a fourth quadrant. The sum of the energy received by the semi-active laser detector is a sum of the energy detected by the first to fourth detectors, and the error of the azimuth angle is the second detector and the fourth in the sum of the first detector and the third detector. The sum of the detectors is obtained by excluding the sum, and the error of the elevation is obtained by excluding the sum of the third and fourth detectors from the sum of the first and second detectors. delete The method of claim 1,
The infrared image sensor unit,
An infrared lens optical system including an infrared lens module and receiving an infrared image photographing the surveillance region of the target;
An infrared image detector which acquires an image of the surveillance region of the target from the infrared image optical system and converts the image into an electrical signal; And
And an infrared image acquisition unit for adjusting a gain of the image signal converted into the electrical signal and converting the image signal into a second digital signal. The method of claim 3,
The driving unit,
A gyro sensor unit measuring an amount of rotation of the gimbal structure on a plane; And
And a servo control unit for controlling the driving of the gimbal using the value measured by the gyro sensor unit. The method of claim 4, wherein
The operation control unit,
The homing device of the guided projectile in operation, characterized in that for specifying the surveillance area of the target according to the distance identifying the target of the infrared image sensor unit. delete delete The method of claim 4, wherein
A preprocessor for transmitting and receiving an electrical signal with the driver and pre-processing information of the infrared image sensor unit and the semi-active laser sensor unit to encode and decode the information; And
A signal processor for detecting the target by using the encoded and decoded information received from the preprocessor, and extracting driving angle information for directing the target from the driver; Complex sensor homing system further comprises. The method of claim 8,
The preprocessing unit,
A synchronization performer configured to perform timing synchronization of the signal using the first digital signal received from the semi-active laser acquisition unit and the second digital signal received from the infrared image acquisition unit; And
And a video correction unit for correcting the non-uniformity of the infrared image. delete delete

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