KR102252826B1 - Device for estimating line of sight rate using acceleration of sight angle and air vehicle including the same - Google Patents

Abstract

The present invention relates to a device for estimating a line of sight (LOS) rate using an acceleration of sight angle and an air vehicle including the same. According to an embodiment of the present invention, the device for estimating the LOS rate comprises: an LOS calculation unit which receives a directivity angle measurement value from a directivity angle measuring unit, receives a posture angle measurement value of the air vehicle from a posture angle measuring unit, engages the directivity measurement value with the posture angle measurement value, and generates an LOS calculation value; an LOS rate calculation unit which generates an LOS rate calculation value by using the LOS calculation value; an acceleration of sight angle calculation unit which generates an acceleration of sight angle calculation value by using the LOS rate calculation value; an estimation unit which generates an LOS rate estimation value and an acceleration of sight angle estimation value based on the LOS calculation value, the LOS rate calculation value, and the acceleration of sight angle calculation value; and a delay compensation unit which compensates a time delay included in the LOS rate estimation value and generates an LOS rate compensation value by using the LOS rate estimation value and the acceleration of sight angle estimation value. The present invention aims to provide a device for estimating an LOS rate using an acceleration of sight angle and an air vehicle including the same, which are able to estimate the acceleration of the LOS rate without time delay.

Description

A device for estimating the angular angular velocity using the angular acceleration and a vehicle including it {DEVICE FOR ESTIMATING LINE OF SIGHT RATE USING ACCELERATION OF SIGHT ANGLE AND AIR VEHICLE INCLUDING THE SAME}

An embodiment of the present invention includes an apparatus for estimating the line-of-sight angular velocity of an aircraft and a vehicle including the same, in particular, an apparatus for estimating the line-of-sight velocity without time delay by compensating for the time delay of the line-of-sight angle using the same, and the same It relates to a flying vehicle.

In general, a guided vehicle (eg, a guided missile) for hitting a target has a searcher to pursue the target. There are two types of seekers: Gimbaled seeker and Strapdown seeker. The gimbal-type searcher can aim at the target by driving the gaze angle independently from the movement of the body by using the gimbal of the two axes. On the other hand, in the fuselage-attached searcher, since the searcher is attached to the body, the search direction of the searcher and the moving direction of the body are the same. Therefore, the fuselage-attached searcher can only measure the directivity angle, which is the angle between the target and the vehicle.

In order to intercept a target on which an aircraft is moving, a proportional navigation guidance method (PNG) is mainly used. In order to implement the proportional navigation guidance method, information on the angle of sight is required. Therefore, in order to estimate the angular velocity of an aircraft, a method of fusion of the heading angle and the attitude angle to generate a gaze angle measurement value, and a method of calculating the gaze angle velocity estimate value using a differential filter has been widely used.

However, the directivity measurement measured by the searcher indicates the measurement result delayed by the searcher latency time due to the characteristics of the searcher. Therefore, in the fusion of the searcher orientation information and the attitude angle information of the inertial navigation system, a problem of inconsistency in the time of information acquisition occurred.

To solve this problem, the searcher's delay time information is obtained from the searcher, and by using it, the attitude angle information of the inertial navigation device at the time closest to the time when the searcher heading angle information is acquired is selected and composed into a data set. Methods for calculating measurements have been devised. However, this method has a problem in that the time delay is not accurately compensated because the gaze angular velocity information to be used at the present point of view is a value calculated by differentiating the gaze angle measurement value configured at the past point of time as much as the searcher delay time.

Korean Patent Registration No. 10-2006463'Viewing angle speed estimation device using asynchronous filter' (published on July 26, 2019) Korean Patent Registration No. 10-1432736'A system for estimating the change rate of the angle of sight based on polar coordinates based searcher using similarity' (published on May 7, 2014)

It is an object of the present invention to provide a gaze angular velocity estimation apparatus for estimating gaze angular velocity without time delay by compensating for a time delay of gaze angular velocity using gaze angular acceleration, and a vehicle including the same.

Another object of the present invention is to provide an apparatus for estimating angular angular speed, which can improve the accuracy of estimation for angular angular speed, and a vehicle including the same.

Another object of the present invention is to provide a line-of-sight angular velocity estimation apparatus capable of improving the probability of intercepting a target of a guidance system requiring accurate sensor information in an urgent environment change, and a vehicle including the same.

The apparatus for estimating the angle of sight according to an embodiment of the present invention receives a measurement value of the directivity angle of the aircraft from the directivity angle measurement unit, receives the measurement value of the attitude angle of the aircraft from the attitude angle measurement unit, and receives the measurement value of the directivity angle and the attitude angle. A viewing angle calculation unit for combining the measured values and generating a viewing angle calculation value; A gaze angular velocity calculation unit for generating a gaze angular velocity calculation value using the gaze angle calculation value; A gaze angle acceleration calculation unit for generating a gaze angle acceleration calculation value using the gaze angle velocity calculation value; An estimating unit for generating a gaze angle velocity estimate and a gaze angle acceleration estimate based on the gaze angle calculation value, the gaze angle velocity calculation value, and the gaze angle acceleration calculation value; And a delay compensating unit configured to compensate for a delay time included in the gaze angular velocity estimate value using the gaze angular velocity estimate value and the gaze angular acceleration estimate value to generate a gaze angular velocity compensation value.

In the present invention, the viewing angle velocity estimation apparatus includes a synchronization unit for selecting the attitude angle measurement value corresponding to a time closest to the time point at which the direction angle measurement value is generated, and transmitting the selected attitude angle measurement value to the viewing angle calculation unit. It characterized in that it further includes.

In the present invention, the viewing angle calculation unit generates the viewing angle calculation value using Equation 1, [Equation 1] CS=ML+MP, where CS is the viewing angle calculation value, and ML is the viewing angle measurement value And, MP is characterized in that the posture angle measurement value.

In the present invention, the gaze angular velocity calculation unit calculates a change amount of the gaze angle calculation value to generate the gaze angular velocity calculation value, and the gaze angle acceleration calculation unit generates the gaze angle acceleration calculation value by calculating a change amount of the gaze angle acceleration calculation value. do.

In the present invention, the estimation unit is characterized in that the Kalman filter using a constant velocity model.

In the present invention, the state variable of the estimation unit is set by Equation 2, [Equation 2] XX = [S; SV, SA], where XX is a state variable, S is a viewing angle, SV is a viewing angle velocity, and SA is a viewing angle acceleration.

In the present invention, the constant velocity model of the estimation unit is the same as Equation 3 in the continuous system, [Equation 3] d/dt(XX)=[0, 1, 0;, 0, 0, 1;, 0, 0 , 0]*XX+NN*[0; 0; 1], where XX is a state variable and NN is a process noise.

In the present invention, the delay compensation unit compensates for the time delay using [Equation 4], [Equation 4] PSV=ESV+ESA*td, where PSV is the viewing angle velocity compensation value, and ESV is the viewing angle velocity estimation value, ESA is an estimate of the viewing angle acceleration, and td is a delay time.

In the present invention, the attitude angle measurement unit is characterized in that the inertial navigation device.

In the present invention, the vehicle is characterized in that it is a guided missile against the target.

A vehicle according to an embodiment of the present invention includes a directivity angle measurement unit for measuring a directivity angle of the aircraft to generate a directivity angle measurement value; An attitude angle measurement unit for measuring an attitude angle of the aircraft to generate an attitude angle measurement value and an attitude angular velocity measurement value; A viewing angle velocity estimation device for generating a viewing angle velocity compensation value by compensating for a time delay factor included in the viewing angle velocity calculated using the orientation angle measurement value and the attitude angle measurement value; A line of sight for receiving the measurement of the orientation angle of the vehicle from the orientation angle measurement unit, receiving the measurement value of the attitude angle of the vehicle from the orientation angle measurement unit, and combining the measurement value of the orientation angle and the measurement value of the attitude angle to generate a calculated viewing angle Each calculation unit; A gaze angular velocity calculation unit for generating a gaze angular velocity calculation value using the gaze angle calculation value; A gaze angle acceleration calculation unit for generating a gaze angle acceleration calculation value using the gaze angle velocity calculation value; An estimating unit for generating a gaze angle velocity estimate and a gaze angle acceleration estimate based on the gaze angle calculation value, the gaze angle velocity calculation value, and the gaze angle acceleration calculation value; And a delay compensating unit configured to compensate for a delay time included in the gaze angular velocity estimate value using the gaze angular velocity estimate value and the gaze angular acceleration estimate value to generate a gaze angular velocity compensation value.

In the present invention, the gaze angular velocity estimating apparatus is a synchronization for selecting the posture angle measurement value corresponding to a time closest to the time point at which the heading angle measurement value is generated, and transmitting the selected posture angle measurement value to the gaze angle calculation unit It characterized in that it further includes wealth.

In the present invention, the viewing angle calculation unit generates the viewing angle calculation value using Equation 1, [Equation 1] CS=ML+MP, where CS is the viewing angle calculation value, and ML is the viewing angle measurement value And, MP is characterized in that the posture angle measurement value.

In the present invention, the gaze angular velocity calculation unit calculates a change amount of the gaze angle calculation value to generate the gaze angular velocity calculation value, and the gaze angle acceleration calculation unit generates the gaze angle acceleration calculation value by calculating a change amount of the gaze angle acceleration calculation value. do.

In the present invention, the estimation unit is characterized in that the Kalman filter using a constant velocity model.

In the present invention, the state variable of the estimation unit is set by Equation 2, [Equation 2] XX = [S; SV, SA], where XX is a state variable, S is a viewing angle, SV is a viewing angle velocity, and SA is a viewing angle acceleration.

In the present invention, the constant velocity model of the estimation unit is the same as Equation 3 in the continuous system, [Equation 3] d/dt(XX)=[0, 1, 0;, 0, 0, 1;, 0, 0 , 0]*XX+NN*[0; 0; 1], where XX is a state variable and NN is a process noise.

The gaze angular velocity estimating apparatus of the present invention and a vehicle including the same have an effect of estimating the gaze angular velocity without a time delay by compensating for a time delay of the gaze angular velocity using the gaze angular acceleration.

In addition, the gaze angular velocity estimation apparatus of the present invention and a vehicle including the same have an effect of improving the estimation accuracy of the gaze angular velocity.

In addition, the apparatus for estimating the line of sight and the vehicle including the same according to the present invention has an effect of improving the probability of intercepting the target of the guidance system requiring accurate sensor information in an urgent environment change.

1 is a view showing a target and a vehicle on a coordinate system according to an embodiment of the present invention.
2 is a view showing a vehicle according to an embodiment of the present invention.
3 is a diagram illustrating an apparatus for estimating a line of sight angular velocity according to an embodiment of the present invention.
4 is a diagram illustrating an apparatus for estimating a line of sight angular velocity according to another embodiment of the present invention.

The present invention will be described in more detail.

Hereinafter, embodiments of the present invention and other matters necessary for a person skilled in the art to easily understand the contents of the present invention will be described in detail with reference to the accompanying drawings. However, since the present invention may be implemented in various different forms within the scope of the claims, the embodiments described below are merely exemplary regardless of whether or not they are expressed.

The same reference numerals refer to the same elements. In addition, in the drawings, thicknesses, ratios, and dimensions of components are exaggerated for effective description of technical content. "And/or" may include all combinations of one or more that the associated configurations may define.

Terms such as first and second may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element. Singular expressions may include plural expressions unless the context clearly indicates otherwise.

In addition, terms such as “below”, “lower”, “above”, and “upper” are used to describe the relationship between the components shown in the drawings. The terms are relative concepts and are described based on the directions indicated in the drawings.

Terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features, numbers, or steps. It is to be understood that it does not preclude the possibility of addition or presence of, operations, components, parts, or combinations thereof.

That is, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms. In the following description, when a certain part is connected to another part, it is directly connected. In addition, it may include a case in which the device is electrically connected with another element interposed therebetween. In addition, it should be noted that the same components in the drawings are indicated by the same reference numerals and reference numerals as much as possible, even if they are indicated on different drawings.

1 is a view showing a target (TG) and a vehicle 10 on a coordinate system according to an embodiment of the present invention.

For convenience of explanation, in FIG. 1, a relative geometric coordinate system with respect to a pitch axis is simply illustrated, but the present invention is not limited thereto. Depending on the embodiment, the coordinate system of the present invention can be expanded in three dimensions.

Referring to FIG. 1, the vehicle 10 may fly toward the target TG. That is, the vehicle 10 may be an induction vehicle for hitting the target TG.

At this time, the aircraft 10 may pursue the target TG as shown on the coordinate system. The coordinate system may include a first coordinate axis (x) and a second coordinate axis (z).

For convenience of description, only the first coordinate axis (x) and the second coordinate axis (z) are illustrated, but the present invention is not limited thereto. The coordinate system may include a first coordinate axis to a third coordinate axis.

The line-of-sight vector (SVT) refers to a vector directed from the vehicle 10 to the target TG. In this case, the viewing angle S refers to an angle between the viewing vector SVT and the first coordinate axis x.

The attitude vector (PVT) refers to a vector indicating the axial direction of the body of the vehicle 10, that is, the direction in which the vehicle 10 is currently facing. That is, the attitude vector PVT may be an axis vector of the coordinate system of the body of the aircraft 10. At this time, the attitude angle (P) means the axial direction of the body of the aircraft 10, that is, the angle between the attitude vector (PVT) and the first coordinate axis (x).

The directing angle (L) refers to an angle between the line of sight vector (SVT) and the attitude vector (PVT). That is, the directing angle (L) refers to the angle between the axial direction of the fuselage of the aircraft 10 and the direction from the aircraft 10 to the target TG.

As shown in FIG. 1, it can be seen that the viewing angle S is made up of the sum of the directing angle L and the attitude angle P.

2 is a view showing the aircraft 10 according to an embodiment of the present invention.

Referring to FIG. 2, the aircraft 10 includes a directivity angle measurement unit 100, an attitude angle measurement unit 200, a visual angle velocity estimation device 300, a guidance command control unit 400, a driving unit 500, and a guided missile dynamics ( 600).

The directivity angle measurement unit 100 may measure a directivity angle, which is an angle between the axial direction of the body of the aircraft 10 and the direction from the aircraft 10 toward the target TG. In addition, the directivity angle measurement unit 100 may generate the directivity angle measurement value and transmit it to the viewing angle velocity estimation apparatus 300.

For example, since the directivity angle measurement unit 100 includes a time delay element by itself, it may be delayed by the delay time when generating the directivity angle measurement value. That is, when the directivity angle measurement unit 100 measures the directivity angle at the first time point, the directivity angle measurement value may be generated at a second time point delayed by the delay time from the first time point.

For example, the directivity angle measurement unit 100 may measure the directivity angle according to the first period and generate a directivity angle measurement value. That is, the directivity angle measurement unit 100 may periodically generate a directivity angle measurement value including a time delay element.

Depending on the embodiment, the directivity angle measurement unit 100 may be implemented as a body-attached searcher (ie, a strap-down searcher).

The attitude angle measurement unit 200 may measure an attitude angle, which is an angle between the attitude vector PVT and the first coordinate axis x. In addition, the posture angle measurement unit 200 may generate the posture angle measurement value and transmit it to the gaze angular velocity estimation apparatus 300. The posture angle measurement unit 200 may generate a posture angular velocity measurement value by calculating the posture angular velocity from the posture angle measurement value. In the present invention, the posture angular velocity may mean a rate of change of the posture angle.

For example, since the posture angle measurement unit 200 does not have a time delay element, when generating the posture angle measurement value, it may be generated immediately without a delay or delayed by a negligible delay time. That is, when the posture angle measurement unit 200 measures the posture angle at the first time point, the posture angle measurement value may be immediately generated at the first time point.

For example, the posture angle measurement unit 200 may measure the posture angle according to the second period and generate a posture angle measurement value. In the present invention, the first period and the second period may be understood as a sampling period, and the first period and the second period may be designed identically. However, the present invention is not limited thereto, and according to embodiments, the first cycle and the second cycle may be different from each other. That is, the posture angle measurement unit 200 may periodically generate a posture angle measurement value that does not include a time delay element.

According to an embodiment, the attitude angle measurement unit 200 may be implemented as an inertial navigation device (eg, an inertial sensor). In this specification, an inertial navigation system (INS) refers to a device for guiding to a destination by detecting its position by being mounted on a submarine, an aircraft, or a missile. The inertial navigation apparatus may include a gyroscope for determining an orientation reference and an accelerometer for obtaining a moving displacement.

The line-of-sight angular velocity estimating device 300 may receive a measurement value of the directivity angle of the aircraft 10 from the directivity angle measurement unit 100, and receive a measurement value of the attitude angle of the aircraft 10 from the attitude angle measurement unit 200. In the present specification, the gaze angle velocity may mean a rate of change of the gaze angle.

The gaze angle velocity estimation apparatus 300 may generate a gaze angle estimate, a gaze angle velocity estimate, and a gaze angle acceleration estimate based on the heading angle measurement value and the attitude angle measurement value. In this case, the time delay factor included in the measuring value of the directing angle may be continuously included in the estimate of the angle of sight, the estimate of the angle of sight, and the estimate of the angle of sight. The gaze angular velocity estimating apparatus 300 may generate a gaze angular velocity compensation value by compensating for a time delay factor included in the calculated gaze angular velocity. Details related to this will be described in FIG. 3. The gaze angle velocity estimation apparatus 300 may transmit the gaze angle estimate value and the gaze angle velocity estimate value to the induction command control unit 400.

The induction command control unit 400 may generate an induction drive command based on a correction value of the line-of-sight angular velocity generated from the apparatus 300 for estimating the line-of-sight angular velocity.

The driving unit 500 may drive the vehicle 10 according to the induction driving command generated by the induction command control unit 400.

The guided missile dynamics 600 generates driving pins, aerodynamics, thrust, and the like, and the aircraft 10 may be maneuvered under the influence of the guided missile dynamics 600.

3 is a diagram illustrating an apparatus 300 for estimating a line of sight angular velocity according to an embodiment of the present invention.

Referring to FIG. 3, the viewing angle velocity estimation apparatus 300 includes a viewing angle calculation unit 310, a viewing angle velocity calculation unit 320, a viewing angle acceleration calculation unit 330, an estimation unit 340, and a delay compensation unit 350. It may include.

The viewing angle calculation unit 310 may receive a directivity angle measurement value ML of the aircraft from the directivity angle measurement unit 100, and may receive an attitude angle measurement value MP of the aircraft from the attitude angle measurement unit 200. The viewing angle calculation unit 310 may generate a viewing angle calculation value CS based on the orientation angle measurement value ML and the attitude angle measurement value MP.

For example, the viewing angle calculation unit 310 may calculate the viewing angle calculation value CS by combining the attitude angle measurement value MP and the orientation angle measurement value ML. For example, the viewing angle calculation unit 310 may generate the viewing angle calculation value CS using Equation 1.

[Equation 1]

CS=ML+MP, where CS is the calculated viewing angle, ML is the directing angle measurement, and MP is the attitude angle measurement.

That is, the viewing angle calculation unit 310 may obtain the viewing angle by combining the orientation angle including the time delay element and the attitude angle. In this case, the calculated viewing angle CS may include a time delay element.

The gaze angular velocity calculation unit 320 may generate a gaze angular velocity calculation value CSV by estimating the gaze angular velocity based on the gaze angle calculation value CS. For example, the gaze angular velocity calculation unit 320 may generate a gaze angular velocity calculation value CSV by calculating a change amount of the gaze angle calculation value CS.

The viewing angle acceleration calculation unit 330 may generate a viewing angle acceleration calculation value CSA by estimating the viewing angle acceleration based on the viewing angle acceleration calculation value CSV. For example, the gaze angle acceleration calculation unit 330 may generate a gaze angle acceleration calculation value CSA by calculating a change amount of the gaze angle acceleration calculation value CSV.

The estimating unit 340 may estimate the viewing angle, the viewing angular velocity, and the viewing angular acceleration based on the viewing angle calculation value CS, the viewing angular velocity calculation value CSV, and the viewing angular acceleration calculation value CSA. In addition, the estimating unit 340 may generate a viewing angle estimation value ES, a viewing angle velocity estimation value ESV, and a viewing angle acceleration estimation value ESA.

For example, the estimating unit 340 may estimate the viewing angle, the viewing angular velocity, and the viewing angular acceleration by applying Equations 2 and 3 to a viewing angle velocity estimation filter using a constant velocity model, that is, a Kalman filter. .

The state variable of the estimating unit 340 is set as in Equation 2.

[Equation 2]

XX=[S; SV, SA], where XX is the state variable, S is the viewing angle, SV is the viewing angular velocity, and SA is the viewing angular acceleration.

The constant velocity model of the estimating unit 340 may be set as in Equation 3 in a continuous system. That is, the constant velocity model of the estimating unit 340 may estimate the gaze angle, gaze angular velocity, and gaze angular acceleration by assuming a variation of the gaze angular acceleration as 0 and adding white Gaussian noise.

[Equation 3]

d/dt(XX)=[0, 1, 0;, 0, 0, 1;, 0, 0, 0]*XX+NN*[0; 0; 1], where XX is a state variable, and NN is a process noise (white Gaussian noise), which means a deviation from the amount of change in starting acceleration.

When Equation 3 is expressed as a discrete system, the state transition matrix of the estimating unit 340 is the same as Equation 4, and the process noise variance matrix is the same as Equation 5.

[Equation 4]

FF=[1, T, (T^2)/2; 0, 1, T; 0, 0, 1], where FF is the state transition matrix of the estimation unit, and T is the sampling period.

[Equation 5]

QQ=NN^2*[(T^6)/36, (T^5)/12, (T^4)/6; (T^5)/12, (T^4)/4, (T^3)/2; (T^4)/6, (T^3)/2, T^2], where QQ is the process noise variance matrix, and NN is the process noise (white Gaussian noise), which is the deviation of the change in the starting acceleration. Means, and T means a sampling period.

For example, the estimating unit 340 may perform the same process of predicting and updating a general Kalman filter based on the above-described equation.

In this way, the eye angle estimate value ES, the eye angle velocity estimate value ESV, and the eye angle acceleration estimate value ESA generated by the estimating unit 340 include a time delay element. Since the time delay element causes incorrect driving, it is necessary to compensate for this time delay element.

The delay compensation unit 350 compensates for the time delay of the angular velocity estimate (ESV) by using the angular velocity estimate (ESV) and the angular acceleration estimate (ESA) generated by the estimating unit 340 to compensate for the time delay of the angular velocity estimation value (ESV). An angular velocity compensation value (PSV) can be generated.

For example, the delay compensation unit 350 may compensate for the time delay using Equation 6.

[Equation 6]

PSV=ESV+ESA*td, where PSV is the angular velocity compensation value, ESV is the angular velocity estimate, ESA is the angular acceleration estimate, and td is the delay time.

4 is a diagram illustrating an apparatus 300' for estimating a line-of-sight angular velocity according to another embodiment of the present invention.

In order to prevent duplication of explanations, a description will be made focusing on differences from the gaze angular velocity estimation apparatus 300 illustrated in FIG. 3.

3 and 4, the line-of-sight angular velocity estimating apparatus 300' according to the embodiment shown in FIG. 4 is a synchronization unit 360 compared to the line-of-sight angular velocity estimating apparatus 300 according to the embodiment shown in FIG. It may further include.

The synchronization unit 360 selects an attitude angle measurement value MP corresponding to a time closest to the time point at which the orientation angle measurement value ML is generated, and converts the selected attitude angle measurement value MP to the viewing angle calculation unit 310. I can deliver. That is, the synchronization unit 360 may perform time synchronization for heterogeneous sensors.

Through the above-described method, the apparatus for estimating the gaze angular velocity of the present invention and the vehicle including the same have the effect of estimating the gaze angular velocity without time delay by compensating for a time delay of the gaze angular velocity using the gaze angular acceleration.

In addition, the gaze angular velocity estimation apparatus of the present invention and a vehicle including the same have an effect of improving the estimation accuracy of the gaze angular velocity.

In addition, the apparatus for estimating the line of sight and the vehicle including the same according to the present invention has an effect of improving the probability of intercepting the target of the guidance system requiring accurate sensor information in an urgent environment change.

The functional operations described in this specification and embodiments related to this subject are implemented in a digital electronic circuit, computer software, firmware, or hardware, including the structures disclosed in this specification and their structural equivalents, or in a combination of one or more of them. It is possible.

Embodiments of the subject matter described herein include one or more of a computer program product, i.e., one or more relating to computer program instructions encoded on a tangible program medium for execution by or to control its operation by a data processing device. It can be implemented as a module. The tangible program medium may be a radio wave signal or a computer-readable medium. A radio wave signal is an artificially generated signal, such as a machine-generated electrical, optical or electromagnetic signal, which is generated to encode information for transmission to an appropriate receiver device for execution by a computer. The computer-readable medium may be a machine-readable storage device, a machine-readable storage substrate, a memory device, a combination of materials that affect a machine-readable radio wave signal, or a combination of one or more of them.

Computer programs (also known as programs, software, software applications, scripts or code) can be written in any form of a compiled or interpreted language or a programming language, including a priori or procedural language, and can be written as a standalone program or module, It can be deployed in any form, including components, subroutines, or other units suitable for use in a computer environment.

Computer programs do not necessarily correspond to files on the file device. A program may be in a single file provided to the requested program, or in multiple interactive files (e.g., files in which one or more stores modules, subprograms, or portions of code), or in files that hold other programs or data. Some (eg, one or more stored within a markup language document may be stored within a script).

The computer program may be deployed to run on one computer or multiple computers located at one site or distributed across a plurality of sites and interconnected by a communication network.

Additionally, the logical flows and structural block diagrams described in this patent document describe the corresponding actions and/or specific methods supported by the corresponding functions and steps supported by the disclosed structural means. It can also be used to build software structures and algorithms and their equivalents.

One or more of the processes and logic flows described herein may be executed by a programmable processor, one or more executing a computer program in order to perform a function by operating on input data and generating an output.

Processors suitable for execution of computer programs include, for example, both general purpose and special purpose microprocessors and any one or more of any type of digital computer being a processor. Typically, the processor will receive instructions and data from read-only memory, random access memory, or both.

The key elements of a computer are one or more memory devices for storing instructions and data, and a processor for performing the instructions. In addition, computers are generally operable to receive data from, transfer data to, or perform both of the mass storage devices, such as one or more for storing data, such as magnetic, magneto-optical disks or optical disks. Combined or will include. However, computers do not need to have such devices.

The present description presents the best mode of the invention, and provides examples to illustrate the invention and to enable those skilled in the art to make and use the invention. The written specification is not intended to limit the present invention to the specific terms presented.

Although the above has been described with reference to the preferred embodiments of the present invention, those skilled in the art or those of ordinary skill in the relevant technical field will not depart from the spirit and scope of the present invention described in the claims to be described later. It will be appreciated that various modifications and changes can be made to the present invention within the scope of the invention.

Therefore, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be determined by the claims.

10: line of sight angular velocity estimation device 100: directivity angle measurement unit
200: attitude angle measurement unit 300, 300': visual angle velocity estimation device
310: viewing angle calculation unit 320: viewing angle velocity calculation unit
330: viewing angle acceleration calculation unit 340: estimation unit
350: delay compensation unit 360: synchronization unit
400: induction command control unit 500: drive unit
600: missile dynamics

Claims (17)

A gaze for receiving a measurement value of the orientation angle of the vehicle from the orientation angle measurement unit, receiving the measurement value of the attitude angle of the vehicle from the orientation angle measurement unit, combining the measurement value of the orientation angle and the measurement value of the attitude angle to generate a calculated viewing angle Each calculation unit;
A gaze angular velocity calculation unit for generating a gaze angular velocity calculation value using the gaze angle calculation value;
A gaze angle acceleration calculation unit for generating a gaze angle acceleration calculation value using the gaze angular velocity calculation value;
An estimating unit for generating a gaze angle velocity estimate and a gaze angle acceleration estimate based on the gaze angle calculation value, the gaze angle velocity calculation value, and the gaze angle acceleration calculation value; And
It characterized in that it comprises a delay compensation unit for generating a gaze angular velocity compensation value by compensating for a delay time included in the gaze angular velocity estimate using the gaze angular velocity estimate and the gaze angular acceleration estimate
Eye angular velocity estimation device. The method of claim 1,
It characterized in that it further comprises a synchronization unit for selecting the attitude angle measurement value corresponding to the time closest to the time point when the orientation angle measurement value is generated, and transmitting the selected attitude angle measurement value to the viewing angle calculation unit,
Eye angular velocity estimation device. The method of claim 2,
The viewing angle calculation unit generates the viewing angle calculation value using Equation 1,
[Equation 1]
CS=ML+MP, wherein CS is a calculated viewing angle, ML is a directing angle measurement, and MP is an attitude angle measurement,
Eye angular velocity estimation device. The method of claim 3,
The gaze angular velocity calculation unit generates the gaze angular velocity calculation value by calculating a change amount of the gaze angle calculation value,
The viewing angle acceleration calculation unit is characterized in that to generate the calculated viewing angle acceleration value by calculating a change amount of the calculated viewing angle acceleration value,
Eye angular velocity estimation device. The method of claim 4,
The estimation unit, characterized in that the Kalman filter using a constant velocity model,
Eye angular velocity estimation device. The method of claim 5,
The state variable of the estimation unit is set by Equation 2,
[Equation 2]
XX=[S; SV, SA], wherein XX is the state variable, S is the viewing angle, SV is the viewing angular velocity, and SA is the viewing angular acceleration,
Eye angular velocity estimation device. The method of claim 6,
The constant velocity model of the estimation unit is the same as Equation 3 in the continuous system,
[Equation 3]
d/dt(XX)=[0, 1, 0;, 0, 0, 1;, 0, 0, 0]*XX+NN*[0; 0; 1], wherein XX is a state variable, NN is characterized in that the process noise,
Eye angular velocity estimation device. The method of claim 7,
The delay compensation unit compensates for the time delay using [Equation 4],
[Equation 4]
PSV=ESV+ESA*td, where PSV is an eye angle velocity compensation value, ESV is an eye angle velocity estimate, ESA is an eye angle acceleration estimate, and td is a delay time,
Eye angular velocity estimation device. The method of claim 1,
The attitude angle measurement unit, characterized in that the inertial navigation device,
Eye angular velocity estimation device. The method of claim 1,
The vehicle is characterized in that it is a guided missile against the target,
Eye angular velocity estimation device. A directivity angle measurement unit for measuring the directivity angle of the vehicle to generate a directivity angle measurement value;
An attitude angle measurement unit for measuring an attitude angle of the aircraft to generate an attitude angle measurement value and an attitude angular velocity measurement value;
A viewing angle velocity estimation device for generating a viewing angle velocity compensation value by compensating for a time delay factor included in the viewing angle velocity calculated using the orientation angle measurement value and the attitude angle measurement value;
A gaze for receiving a measurement value of the orientation angle of the vehicle from the orientation angle measurement unit, receiving the measurement value of the attitude angle of the vehicle from the orientation angle measurement unit, combining the measurement value of the orientation angle and the measurement value of the attitude angle to generate a calculated viewing angle Each calculation unit;
A gaze angular velocity calculation unit for generating a gaze angular velocity calculation value using the gaze angle calculation value;
A gaze angle acceleration calculation unit for generating a gaze angle acceleration calculation value using the gaze angular velocity calculation value;
An estimating unit for generating a gaze angle velocity estimate and a gaze angle acceleration estimate based on the gaze angle calculation value, the gaze angle velocity calculation value, and the gaze angle acceleration calculation value; And
It characterized in that it comprises a delay compensation unit for generating a gaze angular velocity compensation value by compensating for a delay time included in the gaze angular velocity estimate using the gaze angular velocity estimate and the gaze angular acceleration estimate,
Aircraft. The method of claim 11,
The viewing angle velocity estimation apparatus further includes a synchronization unit for selecting the attitude angle measurement value corresponding to a time closest to the time point at which the direction angle measurement value is generated, and transmitting the selected attitude angle measurement value to the viewing angle calculation unit. Characterized in that,
Aircraft. The method of claim 12,
The viewing angle calculation unit generates the viewing angle calculation value using Equation 1,
[Equation 1]
CS=ML+MP, wherein CS is a calculated viewing angle, ML is a directing angle measurement, and MP is an attitude angle measurement,
Aircraft. The method of claim 13,
The gaze angular velocity calculation unit generates the gaze angular velocity calculation value by calculating a change amount of the gaze angle calculation value,
The viewing angle acceleration calculation unit is characterized in that to generate the calculated viewing angle acceleration value by calculating a change amount of the calculated viewing angle acceleration value,
Aircraft. The method of claim 14,
The estimation unit, characterized in that the Kalman filter using a constant velocity model,
Aircraft. The method of claim 15,
The state variable of the estimation unit is set by Equation 2,
[Equation 2]
XX=[S; SV, SA], wherein XX is the state variable, S is the viewing angle, SV is the viewing angular velocity, and SA is the viewing angular acceleration,
Aircraft. The method of claim 16,
The constant velocity model of the estimation unit is the same as Equation 3 in the continuous system,
[Equation 3]
d/dt(XX)=[0, 1, 0;, 0, 0, 1;, 0, 0, 0]*XX+NN*[0; 0; 1], wherein XX is a state variable, NN is characterized in that the process noise,
Aircraft.

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