JP4019544B2 - Flying object guidance control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a guidance control apparatus for performing a final maneuver at the final stage of the terminal stage of a guided flying body that intercepts a flying ballistic flying object outside the atmosphere.
[0002]
[Prior art]
While the allowable hit error in the conventional air-to-air flying object using a proximity fuze is about 10 m, the allowable hit error is reduced to about a few tens of centimeters with highly accurate guidance control in the intercepting flying object for direct hit destruction. There is a need to. In other words, the intercepting flying object in the general meeting course to the ballistic projectile (hereinafter referred to as TBM) is guided to the narrower meeting course with a smaller hit error by the final movement in the latter half of the terminal period by guidance control until the first half of the terminal period. Need to control.
[0003]
Figure 14 shows the Tactical and Strategic Missile Guidance 2nd edition, page 41, Proportional Navigation and Zero Effort Miss, related to the publication of the American Institute of Aeronautics and Astronautics Zero Effort Miss The following is an example of a flying object guidance control apparatus shown in predictive guidance in the section “Intercepting a Ballistic Target” on page 373 of the same book based on ZEM). Hereinafter, a description will be given based on the drawings.
In FIG. 14, 1 is a navigation guidance sensor that is mounted on an intercepting flying object and detects the positional information and movement information of the intercepting flying object, and the relative position information and movement information of the TBM and the intercepting flying object, and 2 is based on the sensor detection signal. Meeting time calculation device for determining the time until the meeting of the interceptor and the TBM, 5 is a ZEM calculation device for determining the ZEM based on the sensor detection signal, and 8 is a translation for determining the thrust command value based on the time until the meeting and the ZEM. A thruster thrust command value calculation device, 9 is a translation thruster drive signal generation device that generates a translation thruster drive signal based on the thrust command value from the translation thruster thrust calculation device 8, and 10 is a translation thruster that injects based on the thruster drive signal. is there.
[0004]
Next, the operation will be described. FIG. 15 shows the time sequence up to the meeting of the interceptor and the TBM, and FIG. 16 shows the situation of the meeting. Usually, the interceptor flies on a general meeting course to the TBM with guidance during the first mid-term and early first half. The rough meeting course means a meeting in which an allowable hit error with an air-to-air flying object using a conventional proximity fuze is about 10 m. Here, an approach speed method plane orthogonal to the approach speed direction of the intercepting flying object and the TBM is assumed. The time at which both reference points (representing points representative of the location of each flying object) are included in this approach speed method plane is the meeting time, and this approach speed method plane is designated as the Miss Plane at the meeting time or expected meeting time. MP for short. The distance between the two reference points in the MP is called a hit error.
[0005]
If the inertial flight is continued without guiding the intercepting flying object after a certain time in the latter half of the terminal period, the intercepting flying object and the TBM are on the general meeting course and meet with a hit error of about 10 m. This hit error is referred to as ZE for short of Zero Effort Miss in the sense of a hit error when no guidance is performed. ZEM is the TBM tracking point from the intercepting flying object (representing the TBM used for TBM tracking, for example, the lightest point near the rear end of the body heated by rocket injection or the front end of the body that receives aerodynamic heating, Rotational angular velocity with respect to the inertial coordinate system of the line of sight (the center line of the field of view of the infrared sensor for tracking the TBM fixed to the interceptor flying object) is used (the center of the area of the TBM image detected by the image sensor is used) From the distance between the intercepting flying object and the TBM, and the time until the meeting, it is obtained with a ZE processing unit.
ZEM = dλ / dt · R · dT
Here, dλ / dt is the rotational angular velocity with respect to the inertial coordinate system of the line of sight from the intercepting flying object to the tracking point of the TBM, R is the distance between the TBM and the intercepting flying object, and dT is the time until the meeting. dλ / dt and R are obtained as sensor detection signals by the navigation guidance sensor, and dT is obtained by the meeting time calculation device based on the sensor detection signals.
[0006]
A translation thruster thrust calculation device will be described. From the obtained TEM and dT, in the translation thruster thrust calculation device, for example,
A = 2 · ZEM / dT²
A translation thruster thrust command value is obtained based on the mass of the intercepting flying object so as to generate an acceleration A in a direction orthogonal to the approach speed direction satisfying the relationship (hereinafter referred to as the approach speed orthogonal direction).
[0007]
Based on the translation thruster thrust command value, a translation thruster drive signal generator obtains a translation thruster drive signal, and a translation thruster is injected based on the drive signal. By this injection, acceleration is generated in the direction perpendicular to the approach speed. At the meeting time by continuing the injection for dT
0 = ZEM-1 / 2 ・ A ・ dT²
Thus, the hit error can be made zero.
[0008]
FIG. 17 shows the translation thruster thrust command value obtained by the translation thruster thrust command value calculation device, the relative speed in the approach speed orthogonal direction, and the relative position in the approach speed orthogonal direction. Each horizontal axis is the elapsed time.
[0009]
As a typical value, the approach speed is several km / s, and the relative speed in the direction perpendicular to the approach speed is on the order of several hundred m / s at most. Usually, in the terminal stage, guidance control in the approach speed direction is not performed, but only guidance control and rotation control in the direction near the approach speed are performed. Therefore, the direction of translation used in the description is a direction substantially perpendicular to the approach speed.
[0010]
[Problems to be solved by the invention]
In the conventional interceptor flying body guidance control device, the intermediate thrust of the translation thruster is used, and it is difficult to realize the thrust according to the translation thruster thrust command value with sufficient accuracy compared to the fixed maximum thrust. As a result, there is a problem that the hit position error, that is, the relative position at the meeting time cannot be made sufficiently small. Alternatively, since the time until the meeting cannot be obtained accurately, an error occurs in the translation thruster thrust command value, and there is a problem that the relative position cannot be made sufficiently small. In addition, since the intermediate thrust below the minimum thrust of the translation thruster cannot be generated, the relative position in the orthogonal direction of the approach speed cannot be finely controlled. If the ZEM is relatively small, the final maneuver start time is calculated again. There is a problem that it is necessary to redo. That is, according to the prior art, it has been difficult to reduce the hit error to about several tens of centimeters.
[0011]
The present invention has been made to solve the above-mentioned problems, such as thrust error due to generation of intermediate thrust of the translation thruster, thrust error due to restriction that thrust less than the minimum thrust cannot be used, and until the meeting. It is an object of the present invention to obtain a flying object guidance control apparatus and method that can achieve a hit error of about a few tens of centimeters without being affected by the time calculation error.
[0012]
[Means for Solving the Problems]
The flying object guidance control device according to the present invention is based on the position and motion information of the intercepting flying object and the ballistic flying object from the navigation guidance sensor, and the meeting time calculating device determines whether the intercepting flying object and the ballistic flying object meet. The time is obtained, the tracking point aiming point correction amount between the tracking point and the aiming point for the ballistic flying object is obtained from the position and motion information and the shape data of the ballistic flying object by the correction amount computing device, and the position and motion information is obtained by the ZEM computing device. The ZEM is obtained from the final movement amount calculation device, the correction amount between the tracking point aiming points and the final movement amount is obtained from the ZEM, the translation thruster thrust command value calculation device is used to determine the meeting time or the time until the meeting and the final movement amount.And the maximum thrust of the translation thrusterThe thrust command value of the translation thruster is obtained, and a translation thruster drive signal is generated from the thrust command value by the translation thruster drive signal calculation device.
[0013]
In addition, the approach speed orthogonal direction travelCalculationThe device calculates the approach speed orthogonal movement amount from the position and motion information and the thrust command value of the translation thruster, and the translation thruster drive signal computing device calculates the drive signal of the translation thruster from the thrust command value of the translation thruster and the approach speed orthogonal movement amount. Configured to generate.
[0016]
Further, a rotation thruster thrust command value calculation device obtains a rotation thruster thrust command value from position and motion information, a rotation thruster drive signal calculation device obtains a rotation thruster drive signal from the rotation thruster thrust command value, and a translational thruster thrust command value. The arithmetic unit is configured to obtain the thrust command value of the translation thruster from the meeting time or the time until the meeting, the final maneuvering amount, and the thrust command value of the rotating thruster.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
A first embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a configuration diagram showing a flying object guidance control apparatus according to a first embodiment of the present invention. In the figure, 1 is a navigation guidance sensor that is mounted on an intercepting flying object and detects the positional information and movement information of the intercepting flying object, and the relative position information and movement information of the TBM and the intercepting flying object, and 2 is based on the sensor detection signal. Meeting time calculation device for obtaining the time to the meeting, 3 is a database relating to the shape characteristics of the TBM, 4 is an aiming point calculation device for obtaining a correction amount from the tracking point to the aiming point based on the tracking point, the sensor detection signal, and the TBM shape data ( The intercepting flying object needs to attack a point that causes destructive destruction to the TBM. The attacking point on the TBM is hereinafter referred to as an aiming point.) 5 is a ZEM computing device that obtains a ZEM based on the sensor detection signal. Is the final maneuvering amount calculation device that calculates the final maneuvering amount based on the aiming point and the ZEM, and 7 is an elapsed time timer that counts the elapsed time, and the time until the meeting is within a predetermined time. Start timing with the start of the final maneuver period. 8 is a translation thruster thrust command value calculation device for obtaining a translation thruster thrust command value based on the time until the meeting and the final maneuver amount, and 9 is a translation thruster drive signal calculation device for generating a thruster drive signal based on the translation thruster thrust command value. Reference numeral 10 denotes a translational thruster that ejects based on a thruster drive signal.
[0018]
Next, the operation will be described. The navigation guidance sensor 1 detects the position information, movement information, relative position information of the TBM and the interceptor flying object, movement information, and shape information of the TBM as sensor detection signals, and calculates the meeting time based on the sensor detection signals. The time until the meeting is determined by the device 2. Based on the tracking point, the shape data of the TBM to be intercepted from the database 3 and the sensor detection signal, the aiming point calculation device 4 obtains the aiming point correction amount. Based on the sensor detection signal, the ZEM computing device 5 obtains the ZEM, and based on the aim point correction amount and the ZEM, the final motion amount computing device 6 obtains the final motion amount. The injection start time of the translation thruster 10 is obtained by the translation thruster thrust command value calculation device 8 based on the time until the meeting and the final maneuver amount.
FIG. 2 is a TBM projection image onto the approach velocity method plane showing the relationship between the tracking point aiming point correction amount, the ZEM, and the final maneuvering amount.
[0019]
The translation thruster thrust command value calculation device 8 will be described. The maximum thrust Fmax of the translation thruster is used for the movement in the direction perpendicular to the approach speed. The maximum acceleration Amax is obtained by dividing Fmax by the mass of the intercepting flying object. The translation thruster 10 does not inject with an intermediate thrust over the entire section of the time dT until the meeting as in the prior art, but from the ZEM and Amax corresponding to the maximum thrust.
dT₁ = Sqrt (2 · ZEM / Amax)
The injection of the translation thruster at the maximum thrust is started retroactively from the meeting time by the translation thruster injection time obtained as follows.
[0020]
The elapsed time timer 7 measures the elapsed time from the start of the final maneuver period. Based on the elapsed time and the translation thruster thrust command value from the translation thruster thrust command value computation device 8, the translation thruster drive signal computation device 9 generates a thruster drive signal. The translation thruster 10 is ejected based on the thruster driving signal.
FIG. 3 is a time chart for the approach position orthogonal direction translation thruster drive signal, the approach speed orthogonal direction speed, and the relative position in the approach speed orthogonal direction.
Although the elapsed time timer 7 that starts timing with the start of the final maneuver period is used, it is not essential to match the start of timekeeping with the start of the final maneuver period, and the start of the last maneuver period and the operation of the translation thruster It is sufficient if the time point is uniquely determined. Furthermore, the operation time point of the translation thruster is set based on the time that can be obtained from the clock function of the intercepting flying object without using the elapsed time timer 7 and the meeting time determined based on the sensor detection signal by the meeting time calculation device. Needless to say, you can. This point is common to the embodiments of the present invention described below.
[0021]
In this way, the flying object guidance control device is configured, and the translation thruster is injected with the maximum thrust just before the meeting time in the final maneuvering period, so that relative position information and motion information can be obtained in a state closer to the ballistic flying object. Therefore, it is possible to perform guidance control based on information with higher accuracy, and it is possible to use an inexpensive fixed thrust translation thruster. Further, since the thrust error is reduced by injecting the translation thruster with the fixed maximum thrust with stable thrust instead of the intermediate thrust, the hit error can be reduced. Of course, a translation thruster with a fixed thrust can be used at a low cost.
[0022]
In the above description, the translation thruster injection starts from the meeting time by the translation thruster injection time and continues until the meeting. However, the translation thruster may be injected immediately after the start of the final maneuvering period. Good. In this case, the translational thruster injection time can be obtained as follows. After this time has elapsed, inertial flight may be performed.
dT₁'= DT-sqrt (dT² -2 · ZEM / Amax)
FIG. 4 is a time chart corresponding to FIG. 3 in such a configuration.
[0023]
Furthermore, dT from the start of the final maneuver period₀ It can also be configured to inject a translation thruster after a lapse of time. The translation thruster injection time in this case is obtained as follows.
dT₁"= (DT-dT₀ ) -Sqrt ((dT-dT₀ )² -2 · ZEM / Amax)
For a certain time, and then dT-dT₀ -DT₁During that time, it flies inertially.
FIG. 5 is a time chart corresponding to FIG. 3 in the case of such a configuration.
[0024]
If comprised in this way, there exists an effect that the average speed during the last maneuver period can be restrained low by injecting a translation thruster with the maximum thrust at the beginning of the last maneuver period. In addition, by injecting the translation thruster with the maximum thrust immediately before the meeting time in the final maneuvering period, the remaining propellant at the meeting time increases, so that the effect of direct hit destruction to the ballistic flying object is enhanced.
[0025]
Embodiment 2. FIG.
A flying object guidance control apparatus according to a second embodiment of the present invention will be described with reference to the block diagram of FIG. 6 and the time chart of FIG. The difference from the first embodiment is that the relative speed in the orthogonal direction of the approach speed is made substantially zero at the time of the meeting using two translational thrusters that act in the direction opposite to each other with respect to the intercepting flying object. It is to control and make the attack against TBM more reliable. In the figure, the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals, and the description of the configuration and operation will not be repeated.
In the figure, 10_-1Is a pair of master-slave translation thrusters that are jetted in directions opposite to the intercepting flying object based on the thruster drive signal, and 11 is an approach speed orthogonal that obtains a movement amount in the direction perpendicular to the approach speed based on the sensor detection signal and the translation thruster thrust command value. It is a direction movement amount calculation device. This embodiment will be described on the basis of control based on the time that can be obtained from the clock function of the intercepting flying object without using the elapsed time timer 7 in the first embodiment.
[0026]
Based on the sensor detection signal and the translation thruster thrust command value, the approach speed orthogonal direction movement amount calculation device 11 obtains the approach speed orthogonal direction movement amount. A pair of translation thrusters 10_-1Of these, the main translation thruster in the direction of decreasing the ZEM is dT with the thrust Fmax.₂ Inject during. Thereafter, the secondary translation thruster in the opposite direction is set to dT at Fmax so that the relative speed in the direction perpendicular to the approach speed generated by the injection of the main translation thruster is zero._Three Inject during. For that purpose, it is necessary to satisfy the following relationship.
0 = Amax · dT₂ -Amax dT_Three
Here, Amax is the maximum acceleration generated by the maximum thrust Fmax. Furthermore, it is necessary to satisfy the following relationship in order to make the relative position in the direction perpendicular to the approach speed zero.
ZEM = 1/2 · Amax · dT₂ ²+ Amax · dT₂ (DT-dT₂ ) -1/2 · Amax · dT_Three ²
As a solution that satisfies these relationships
dT₂= DT_Three= 1/2 (dT-sqrt (dT²-4 · ZEM / Amax))
Is obtained.
[0027]
Based on the sensor detection signal and the translational thruster thrust command value, the approaching speed orthogonal direction movement amount calculation device 11 obtains the approaching orthogonal direction movement amount. This approaching orthogonal direction movement amount was obtained by the translation thruster thrust command value calculation device 8.
1/2 ・ Amax ・ dT₂ ²+ Amax · dT₂ (DT-2 ・ dT₂ )
DT from the time that coincided with_Three = DT₂ Inject time and slave translation thrusters.
[0028]
FIG. 7 shows the translation thruster thrust command value, the approach speed orthogonal direction relative speed, and the approach speed orthogonal direction relative position obtained by the translation thruster thrust command value calculation device. Each horizontal axis is the elapsed time.
[0029]
In this way, the flying object guidance control device is configured so that the opposing translation thrusters are jetted twice so that the relative approach speed and the orthogonal relative speed of the ballistic flying object and the intercepting flying object near the meeting time become substantially zero. Therefore, even if an error occurs in the meeting time calculation and a shift occurs in the meeting time, the relative position error in the orthogonal direction of the relative approach speed does not increase, and a more effective blow can be given to the TBM. In addition, since the second injection start time is determined based on the approach speed orthogonal direction moving amount, it is less affected by the error of the first injection and compared with the case where it is determined based on the elapsed time, and the hit error is reduced. Can do. Further, since the translation thruster is ejected with the maximum thrust, relative position information / motion information can be obtained in a state closer to the ballistic flying object, and guidance control can be performed based on information with higher accuracy. Of course, a translation thruster with a fixed thrust can be used at a low cost.
[0030]
  In the above description, the translation thruster is operated at its maximum thrust, but it may be configured to control the relative speed in the orthogonal direction of the approach speed to be substantially zero using the intermediate thrust of the translation thruster. Needless to say, to use the intermediate thrust of the translation thrusterFIG.The portion corresponding to the translation thruster thrust command value computing device of this type needs to compute the thrust of the translation thruster and the injection time. So this part isTranslational thruster command value calculation device 8Will be described. A pair of translation thrusters 10_-1Of the main translation thrusters in the direction of decreasing the ZEM₁ DT_Four After the time injection, the thrust F is applied so that the secondary translation thrusters in the opposite direction have zero relative speed in the direction perpendicular to the approach speed generated by the injection of the main translation thrusters.₂ DT_Five Time spray. For that purpose, it is necessary to satisfy the following relationship.
    0 = A₁・ DT_Four+ A₂・ DT_Five
Where A₁ And A₂ Is the thrust F₁ And F₂ Is the acceleration generated by. Further, in order to make the relative position in the direction of approaching velocity orthogonal to zero, it is necessary to satisfy the following relationship.
    ZEM = 1/2 ・ A₁・ DT_Four ²+ A₁・ DT_Four(DT-dT_Four)
            +1/2 ・ A₂・ DT_Five ²
As a solution that satisfies these relationships
    dT_Five= 2 (dT−1 / 2 · dT_Four-ZEM / (A₁・ DT_Four))
    A₂= -A₁・ DT_Four/ DT_Five
Is obtained. Thrust F₂ Is A₂ And the mass of the interceptor.
[0031]
  Based on the sensor detection signal and the translation thruster thrust command value, the approach speed orthogonal direction movement amount calculation device 11 obtains the approach speed orthogonal direction movement amount. The amount of movement in the direction perpendicular to the approach speed was obtained by the translation thruster thrust command value calculation device 8.
A ₁ ・ DT ₄ (-DT + 1/2 · dT ₄ + 2ZEM / (A ₁ ・ DT ₄ ))
DT from the time that coincided with₅During this time, a secondary translation thruster is injected. FIG. 6 shows the translation thruster thrust command value obtained by the translation thruster thrust command value computing device 8, the relative speed in the approaching speed orthogonal direction, and the approaching speed orthogonal direction relative position. Each horizontal axis is the elapsed time.
[0032]
In this embodiment, the approach speed orthogonal direction movement amount is obtained based on the sensor detection signal and the translation thruster thrust command value, and the approach speed orthogonal direction movement amount coincides with the value obtained by the translation thruster thrust command value calculation device 8. The translational thruster injection is started according to the output of the translational thruster thrust command value computing device 8 described in the first embodiment, that is, based on the elapsed time timer 7, and from the start time of the final maneuver period.
dT-dT_Three = DT-dT₂ Or dT-dT_Five The secondary translation thruster injection may be started when the time elapses.
[0033]
Embodiment 3 FIG.
A flying object guidance control apparatus according to a third embodiment of the present invention will be described with reference to the block diagram of FIG. 9 and the time chart of FIG. The difference from each of the embodiments already described is that a pulse motion translation thruster is used, and FIG. 9 corresponds to the second embodiment already described, and the first and second embodiments. The same or equivalent parts are denoted by the same reference numerals. Hereinafter, differences from the first and second embodiments will be described.
10_-2Is a pair of master-slave pulse motion translation thrusters for jetting based on the thruster drive signal, 12 is a counter thruster differential motion control device that outputs a differential motion control signal based on the thruster drive signal, and 13 is a pulse synchronization signal based on the thruster drive signal. It is a pulse synchronizer that outputs.
[0034]
Based on the thruster drive signal, the translation thruster drive signal arithmetic unit 12 obtains the drive signals of the two master and slave translation thrusters. The drive signal of the main translation thruster includes pulse timing. The slave translation thruster drive signal is output as a differential operation control signal by matching the required total number of pulses and changing the pulse width based on the drive signal of the main translation thruster. At the same time, a thruster drive signal is applied to the pulse synchronizer 13 to output a pulse synchronization signal to synchronize the operation pulses of the two master and slave translational thrusters facing each other. FIG. 10 is a time chart showing the operation of the pair of master-slave translational thrusters configured as described above, and the horizontal axis represents elapsed time.
Although the third embodiment has been described on the assumption that it is applied throughout the final maneuver period, it is needless to say that the third embodiment can be applied to the respective injection operations of the translational thrusters in the first and second embodiments.
[0035]
This configuration is characterized by a master-slave pair of pulsed translational thrusters 10._-2The operation pulses are synchronized and differentially operated to obtain an intermediate thrust with high accuracy and small vibration disturbance. That is, the pulse motion translation thruster 10_-2In order to obtain the thrust time product corresponding to the injection time ΔT below the minimum on-time, the translational thruster is injected with the minimum on-time Tmin and the main translation thruster is injected with Tmin + ΔT, and the difference between the two impulses is intercepted. Act on the body. In this description, it is assumed that each of the main and slave pulse motion translation thrusters has the same thrust, but the same configuration is possible even when the thrusts have different thrusts or variable thrusts. Needless to say, it can be easily analogized with the explanation in 2.
[0036]
In this way, the flying object guidance control device is configured, and a pulse thruster is used as the opposing translation thruster and the differential operation is performed in synchronization with each other, so that it is possible to artificially generate a pulse output below the minimum on-time of the pulse thruster. Fine control of the amount of movement is possible, and the hit error can be further reduced. Furthermore, unnecessary vibration disturbance is not given to the intercepting flying object, the reliability of the onboard equipment and the reliability of the guidance control are increased, and the certainty of the attack on the TBM is increased.
[0037]
Even when the pair of translational thrusters that perform differential operation is not pulsed, it can be configured based on the same concept as described above. Such a configuration is shown in FIGS.
In the figure, 10_-3Is a pair of master-slave translation thrusters, at least one of which is variable in thrust, that jets in the direction opposite to the intercepting flying object based on the thruster drive signal_-3Is a counter thruster differential operation control device that outputs a differential operation control signal based on a thruster drive signal.
[0038]
If the required thrust of the translation thruster is F smaller than the minimum output of the main translation thruster, for example, the slave translation thruster is injected with the minimum output Fmin, and the main translation thruster is injected with the output of Fmin + F.
Based on the thruster driving signal, the opposed thruster differential operation control device 12_-3The differential operation control signal is output by the translation thruster 10 based on the thruster drive signal and the differential operation control signal._-3Inject.
FIG. 12 shows the thruster drive signal of the master-slave translation thruster in this configuration. The horizontal axis is the elapsed time. The combination of the operation of each translation thruster can be modified in many ways by the configuration of the master-slave pair of translation thrusters, but it goes without saying that it can be easily inferred from the above description.
[0039]
Even if the required thrust of the translation thruster is less than the minimum thrust, the thrust less than the minimum thrust of the translation thruster alone is output as the resultant force by operating the opposing translation thruster. The error can be reduced.
[0040]
Embodiment 4 FIG.
A flying object guidance control apparatus according to a fourth embodiment of the present invention will be described with reference to the block diagram of FIG. The difference from the third embodiment is that the rotating thruster is used to control the attitude of the intercepting flying object to further ensure the attack on the TBM. In the figure, the same or equivalent parts as those up to the third embodiment are denoted by the same reference numerals, and the description of the configuration and operation will not be repeated.
Reference numeral 14 denotes a rotation thruster thrust command value calculation device for obtaining a thrust command value based on the sensor detection signal, 15 denotes a rotation thruster drive signal calculation device for obtaining a thruster drive signal based on the rotation thruster command value, and 16 denotes a rotation thruster drive signal. This is a rotating thruster to be injected.
[0041]
Rotational thruster thrust command value calculation of thrust command value of rotating thruster for detecting rotational motion of intercepting flying aircraft by guided navigation sensor 1 and controlling the aircraft to a posture suitable for guidance and TBM attack based on this detection signal Determined by device 14. Based on the rotation thruster thrust command value, the rotation thruster drive signal calculation device 15 obtains a thruster drive signal, and the rotation thruster 16 is injected based on the thruster drive signal. A translation thruster thrust command value is calculated by the translation thruster thrust command value calculation device 8 based on the time until the meeting, the final maneuvering amount, and the rotation thruster thrust command value.
[0042]
The translation thruster thrust command value calculation device 8 will be described. The rotation thruster 16 is arranged so that a rotational moment acts on the airframe by the thrust. Although it is desirable to arrange so as to generate only the rotational moment, if it cannot be arranged as such for mounting reasons, the accompanying translational thrust is generated together with the rotational moment. The translation thruster thrust command value calculation device 8 obtains the injection time based on the thrust obtained by adding the translational thrust accompanying the rotational moment of the rotational thruster 16 to the translational thrust of the translation thruster.
[0043]
In the above description, it is assumed that the rotating thruster 16 is a fixed thrust, but it is easy to analogize that the same configuration is possible even in the case of a variable thrust in conjunction with the description of the second embodiment. It goes without saying that it is possible.
[0044]
In this way, the flying object guidance control device was configured, and the intercepting flying machine body was held in a direction suitable for guidance, and the translational thrust for making the final movement amount zero was generated without excess or deficiency. Increase in hit error is minimized.
[0045]
【The invention's effect】
In the flying object guidance control apparatus according to the first invention,,commonSince the thrust thruster is injected with the maximum thrust with stable thrust, errors related to thrust are reduced and high accuracy is achieved.Based on informationGuidance control can be realized and hit error can be reduced.
[0046]
In the flying object guidance control apparatus according to the second invention, the opposing translation thrusters are jetted twice, and the relative approach speeds of the ballistic flying object and the intercepting flying object in the vicinity of the meeting time become substantially zero. Therefore, even if an error occurs in the meeting time calculation and the meeting time shifts, the relative position error in the direction of the relative approach speed orthogonal does not increase, and a more effective blow can be given to the TBM. In addition, since the second injection start time is determined based on the approach speed orthogonal direction moving amount, it is less affected by the error of the first injection and compared with the case where it is determined based on the elapsed time, and the hit error is reduced. Can do.
[0049]
  ThirdIn the flying object guidance control device according to the invention, the aircraft of the intercepting flying object is held in a direction suitable for guidance, and the translational thrust for making the final movement amount zero is generated without excess or deficiency. The increase in error is minimized.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a flying object guidance control apparatus according to a first embodiment of the present invention.
FIG. 2 is an explanatory diagram showing the relationship between the tracking point aiming point correction amount, the ZEM, and the final maneuvering amount in the present invention by a TBM projection image on an approaching orthogonal plane.
3 is a time chart for the approaching orthogonal direction translation thruster drive signal, approaching orthogonal direction velocity, and relative position in the approaching orthogonal direction with respect to FIG. 1;
FIG. 4 is a time chart corresponding to FIG. 3 in a modified example of the first embodiment.
FIG. 5 is a time chart corresponding to FIG. 3 in another modification of the first embodiment.
FIG. 6 is a block diagram showing a flying object guidance control apparatus according to a second embodiment of the present invention.
7 is a time chart for the approach orthogonal direction translation thruster drive signal, the approach orthogonal direction speed, and the relative position in the approach orthogonal direction with respect to FIG. 6;
FIG. 8 is a time chart corresponding to FIG. 7 in another modification of the second embodiment.
FIG. 9 is a block diagram showing a flying object guidance control apparatus according to a third embodiment of the present invention.
FIG. 10 is a time chart for explaining the operation of the master-slave translation thruster with respect to FIG. 9;
FIG. 11 is a block diagram showing a flying object guidance control apparatus according to a modification of the second embodiment.
12 is a time chart for explaining the operation of the master-slave translation thruster with respect to FIG.
FIG. 13 is a block diagram showing a flying object guidance control apparatus according to a fourth embodiment of the present invention.
FIG. 14 is a block diagram showing a configuration of a guidance control device in a conventional intercepting flying object.
FIG. 15 is a time sequence until an interceptor and a TBM meet.
FIG. 16 is an explanatory diagram showing the status of a meeting.
17 is a time chart showing the translation thruster thrust command, the relative velocity in the approaching orthogonal direction, and the relative position in the approaching orthogonal direction with respect to FIG. 14;
[Explanation of symbols]
1. Navigation guidance sensor, 2. Meeting time calculation device, 3. TBM shape database
4. Tracking point aim point correction amount calculation device, 5. ZEM calculation device
6 ... Final movement amount calculation device, 7 ... Elapsed time timer
8. Translation thruster injection time calculation device, 9. Translation thruster drive signal calculation device
10. Translation thruster, 11.
12 ... Opposite thruster differential operation control device, 13 ... Pulse synchronizer
14... Rotating thruster ejection time computing device, 15...
16 rotating thrusters

Claims (3)

Navigation guidance sensor for detecting the position and movement information of the intercepting flying object and the ballistic flying object, the meeting time calculating device for obtaining the meeting time or the time until the meeting of the intercepting flying object and the ballistic flying object from the position and movement information, A database that holds the shape data of the ballistic flying object, the position and movement information, and the tracking point aiming point between the tracking point and the aiming point for the ballistic flying object from the shape data of the ballistic flying object correction amount computing unit for determining a correction amount to determine the accuracy error is the distance between both reference points in the associated time or expected meeting time of the interceptor missile and the ballistic projectile to continue the inertial flight from the position and movement information A ZE processing unit, a final maneuver calculation device for obtaining a final maneuver amount from the correction amount between the tracking point aiming points and the hit error, a time to the meeting or a time until the meeting, and the final maneuver amount and translation A translation thruster thrust command value computing device for obtaining a thrust command value for a translation thruster from the maximum thrust of the raster, and a flying object guidance control device comprising a translation thruster drive signal computing device for generating a translation thruster drive signal from the thrust command value .   The apparatus further includes an approach speed orthogonal direction movement amount calculation device that calculates an approach speed orthogonal direction movement amount from the position and motion information and the thrust command value of the translation thruster, and the translation thruster drive signal calculation device includes the thrust command of the translation thruster. 2. The flying object guidance control apparatus according to claim 1, wherein a driving signal for a translational thruster is generated from the value and the movement amount in the orthogonal direction of the approach speed.   A rotational thruster thrust command value computing device for obtaining a thrust thrust thrust command value from the position and motion information; and a rotational thruster drive signal computing device for obtaining a rotational thruster drive signal from the rotational thruster thrust command value. 3. The flying object guidance according to claim 1, wherein the command value calculation device obtains a thrust command value of the translation thruster from the meeting time or time until the meeting, the final movement amount, and the thrust command value of the rotating thruster. Control device.

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