JPS6230644B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of guiding a flying object, and more particularly to a method of guiding a flying object toward a target on the sea toward the side of the target.

In order to intercept the military power of a target on the sea (for example, a ship, naval vessel, etc.), it is effective to destroy the target near its waterline from the side. However, conventionally, aiming at a target detected by a radar device,
Since these devices guided the flying object or automatically steered the flying object by detecting the infrared rays emitted by the target, it was impossible to judge whether the target was approaching from the front or the side. It was not possible to control the direction of the hit.

In view of the above, it is an object of the present invention to provide a method for guiding a flying object so that it can sneak around the side of a target.

An embodiment of the present invention will be described in detail below with reference to the drawings.

In FIG. 1, 1 is a flying object, 2 is a detour start point, 3 is a detour end point, and 4 is a target existing on the sea such as a survey boat or a survey boat.

A flying object 1 is launched from land, an aircraft, a cruise ship, etc., and after being launched, it attempts to fly toward a target 4 along a predetermined flight path by an autopilot based on inertial navigation.

The vertical distance from the flying object 1 to the sea surface, that is, the altitude, is measured by an altimeter (for example, a radio altimeter) mounted on the flying object 1, and the flying object 1 attempts to fly along a horizontal flight path so as to keep this altitude constant.
When the flying object 1 approaches the target 4, the image signal obtained from the imager mounted on the flying object 1 is processed to determine the vertical and horizontal lengths of the target. The size is calculated and it is determined that the flying object has circled around and reached starting point 2.

The flying object that has reached the start point 2 of turning around will move approximately 10 mm while calculating the ratio of the length of the target in the vertical direction and the horizontal direction.
Go around to the side centering on target 4 until the value is reached,
When the aspect ratio reaches a maximum value of approximately 10, it is determined that wraparound end point 3 has been reached. When the flying object reaches the wraparound end point, the flying object turns its axis in the horizontal direction and is steered to align with the axis of the imager.

When the flying object 1 gets closer to the target 4, the terminus booster is ignited to increase the speed of the flying object 1 and reduce the probability that the flying object 1 will be intercepted and shot down by the target 4. Increases the destructive power when body 1 hits target 4.

Here, in order to guide the flying object 1 so as to go around the side of the target 4, it is possible to guide the flying object 1 so as to go around the side of the target 4, if the following is known, so this will be explained in detail with reference to the drawings.

Figure 2 is a diagram for explaining the characteristics of an image when a target is imaged from a flying object, and Figure 2 a is an image when a flying object approaches the target from directly in front (or directly behind). 2b is an image when approached from the side, and 5 is the screen. Depending on the angle at which the target 4 is viewed from the flying object 1 in the horizontal plane, a large feature in the shape of the target 4 imaged in the screen 5 appears as a large feature in the lateral length x of the target.

When viewed from the front as shown in Figure 2 a, the vertical length x and the horizontal length y are almost the same, and when viewed from the side as shown in Figure 2 b, the length x is smaller than the length y.
is very large. Furthermore, there is a characteristic unique to maritime targets that the length y in both FIGS. 2a and 2b is the same. By processing the captured image, images related to the sea surface are removed to create an image related only to the ship. Then, let the length of the processed ship image projected onto the x-axis be the horizontal length x, and the length of the projected ship image onto the y-axis be the vertical length y. Then, the horizontal length x corresponds to the maximum width of the ship, and the vertical length y corresponds to the height of the ship above the sea surface. The target length x gradually increases while the flying object 1 is performing roundabout steering from the roundabout start point 2 to the roundabout end point 3, and begins to decrease after the roundabout end point 3 is exceeded. Therefore, by calculating the length x and the length y, roundabout steering becomes possible.

Next, the relationship between the ratio of the vertical length y and the horizontal length x and the angle θ when looking at the target 4 from the flying body 1 will be explained with reference to FIG. The numbers 1, 10, etc. in the diagram are determined from the shapes of the most common maritime targets, but it is necessary to have allowable values when manufacturing the equipment.

When a flying object approaches the target from a distance in the front direction, θ=0°, and the target has an aspect ratio x/y of 1. Due to the size of the target, upon reaching the detour starting point 2, θ increases and the value of x/y also increases. The value of x/y increases until it reaches 10 and then begins to decrease. This maximum point is detected and it is determined that θ=90°, that is, that the wrapping end point 3 has been reached.

Figure 4 is a diagram showing the relationship between the flying body axis and the field of view in each flight path of the flying body, where 6 is the flying body axis, 7 is the field of view of the image obtained by the imager, and 8 is the imager drive limit. It is.

During the route of the flying body 1 from a distance until it reaches the starting point 2, the flying body axis 6 and the field of view 7 face in the same direction as shown in FIG. 4a.

Next, during the route from the wraparound start point 2 to the wraparound end point 3, as shown in Figure 4b, the flying body axis 6
The direction of the field of view 7 is different from that of the imager, and the field of view 7 is oriented in a direction near the imaging device drive limit. Further, after reaching the turning end point 3, the flying body axis 6 is turned as shown in FIG. 4c, and the field of view 7 is directed toward the target 4.

In other words, it turns so that the angle α becomes 0°, and as shown in FIG. 4a, it steers so that the flying body axis 6 and the field of view 7 overlap, and it advances at right angles to the side of the target 4.

As described above, according to the present invention, it is possible to guide a flying object to approach the side of a target on the sea, which has a great operational effect.

In the explanation using Figure 1, it was explained as if a target approaching from a distance were approaching from directly in front of the ship.Although this was explained as if the target were approaching from directly in front of the ship, this was only for convenience of explanation. It goes without saying that the same method can be used to go around flying objects approaching at any angle.

[Brief explanation of the drawing]

Figure 1 is a diagram for explaining the method of guiding a flying object according to the present invention, Figure 2 is a diagram for explaining the characteristics of an image when a target is imaged from a flying body, and Figure 3 is a diagram for explaining the target. Figure 4 is a diagram to explain the change in the aspect ratio of the target when the flying object goes around the center. 1
2 is the flying body, 2 is the wraparound start point, 3 is the wraparound end point, 4 is the target, 5 is the screen, 6 is the flying body axis, 7 is the field of view, and 8 is the imager drive limit.

Claims (1)

[Claims] 1. A method for guiding a flying object to fly toward a target horizontally over the sea surface at a predetermined speed, comprising: a first means mounted on the flying object to image a target on the sea and obtain an image; a second means for calculating the vertical and horizontal lengths of the target from the image obtained by the means; and arriving at the start point of the flying body turning around the target from the value of the vertical length of the target calculated by the second means. a third means for determining whether the flying object has arrived at the end point of the roundabout based on the value of the ratio of the vertical length and the horizontal length of the target; and a third means for steering the flying object itself to turn around the target in a horizontal plane. and a fifth means for driving the imager so that the target does not protrude from the field of view of the imager during execution of the fourth means, and guides the guided flying object to the side of the target. A method for guiding a flying body characterized by the following.