EP0446413A1 - Projectile with a bow affixed IR seeker - Google Patents

Projectile with a bow affixed IR seeker Download PDF

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Publication number
EP0446413A1
EP0446413A1 EP90119791A EP90119791A EP0446413A1 EP 0446413 A1 EP0446413 A1 EP 0446413A1 EP 90119791 A EP90119791 A EP 90119791A EP 90119791 A EP90119791 A EP 90119791A EP 0446413 A1 EP0446413 A1 EP 0446413A1
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EP
European Patent Office
Prior art keywords
projectile
scanning
target
laser
deflection device
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP90119791A
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German (de)
French (fr)
Inventor
Helmut Dr. Neff
Jürgen Heinrich
Gerhard Dr. Glotz
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Tzn Forschungs- und Entwicklungszentrum Unterluess GmbH
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Tzn Forschungs- und Entwicklungszentrum Unterluess GmbH
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Publication of EP0446413A1 publication Critical patent/EP0446413A1/en
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41WEAPONS
    • F41GWEAPON SIGHTS; AIMING
    • F41G7/00Direction control systems for self-propelled missiles
    • F41G7/20Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22Homing guidance systems
    • F41G7/2246Active homing systems, i.e. comprising both a transmitter and a receiver
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41WEAPONS
    • F41GWEAPON SIGHTS; AIMING
    • F41G7/00Direction control systems for self-propelled missiles
    • F41G7/20Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22Homing guidance systems
    • F41G7/2213Homing guidance systems maintaining the axis of an orientable seeking head pointed at the target, e.g. target seeking gyro
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41WEAPONS
    • F41GWEAPON SIGHTS; AIMING
    • F41G7/00Direction control systems for self-propelled missiles
    • F41G7/20Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22Homing guidance systems
    • F41G7/222Homing guidance systems for spin-stabilized missiles
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41WEAPONS
    • F41GWEAPON SIGHTS; AIMING
    • F41G7/00Direction control systems for self-propelled missiles
    • F41G7/20Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22Homing guidance systems
    • F41G7/2273Homing guidance systems characterised by the type of waves
    • F41G7/2293Homing guidance systems characterised by the type of waves using electromagnetic waves other than radio waves

Definitions

  • the invention relates to a projectile as specified in more detail by the features of the preamble of claim 1.
  • the successful combat of tactical and ballistic missiles with barrel weapons requires the use of sensor-supported ammunition with a comparatively high target range and accuracy.
  • the sensors for target determination can be based on active and passive systems. Active systems offer the possibility of autonomously determining the target distance, thus allowing modified proportional navigation with the result of improved hit accuracy.
  • Most of the systems for guided missiles that have been implemented so far require gyro-stabilized systems with high mechanical complexity. These systems can often not be exposed to the stresses that occur during launch.
  • a target search device for missiles which contains a passive sensor.
  • This essentially consists of a gyroscopic rotor which is mounted in a housing, a detector being arranged fixed to the housing in the central swivel arm.
  • There is an optical on the gyro rotor System that maps an infinite viewfinder field of view as a field of view image in the plane of the detector.
  • a torque generator which acts on the gyro rotor and receives corresponding scanning signals from a scanning signal generator, is provided as means for generating the relative movement between the visual field image and the detector. With a suitable choice of the scanning signals, it is possible to achieve a rosette-shaped scanning of the target area.
  • U.S. Patent No. 3,035,818 discloses a missile that includes both an optical homing device and an optical proximity detonator.
  • the receiving device of the passive targeting device serves at the same time as the receiver of the active proximity detonator.
  • An active method for the target search device is not disclosed in this document.
  • the invention has for its object to develop a projectile with an IR target search system of the type mentioned in such a way that mechanical components are dispensed with on the one hand and rosette-shaped scanning of the target area is possible on the other hand.
  • the invention is therefore based on an active laser-assisted sensor system for target recognition and steering.
  • the target area is scanned by means of an acousto-optical sensor system mounted in the search head of the rotating projectile.
  • the storey position relative to the target or the line of sight angle can then be determined from the scanning parameters of the acousto-optical device by receiving and evaluating the laser light scattered back from the target.
  • At least two control nozzles are used for projectile guidance, which are attached in a fixed predetermined plane relative to the scanning plane of the laser.
  • 10 designates a spin-stabilized projectile which rotates about its longitudinal axis 10 '.
  • the floor 10 has a dome 11 which is transparent to the IR rays.
  • the laser beam emanating from the laser transmission and scanning module 12 is designated 18 and the corresponding scan plane 19 .
  • the structure of the laser transmitter and scan module 12 is shown in FIG. 2. It essentially consists of a laser (e.g. DC solid-state laser) 120, a lens arrangement 121 connected downstream of the laser and indicated only schematically for beam conditioning, and a preferably electro-optical modulator 122 for amplitude modulation of the laser beam. Amplitude modulation is necessary because the signal bandwidth can be increased due to the reduced signal bandwidth. Furthermore, amplitude modulation of the laser beam is necessary to determine the distance between the projectile and the target (see below).
  • the laser beam is deflected with the aid of an acousto-optical deflection device 123.
  • the solid-state laser 120 is supplied with power with the aid of a power supply source 124, which is controlled by a control device 125.
  • control devices 127 and 128 of the electro-optical modulator 122 or the are also connected via a synchronization device 126 acousto-optical deflector 123 connected.
  • the control devices 127 and 128 are also connected via lines 129 and 129 'to the evaluation electronics 14 described below.
  • the receiving module 13 consists essentially of a fast photodiode 130. This is preceded by a schematically illustrated focusing optics 131, with which the incident laser light 132 reflected from the target is focused on the photodiode.
  • the output signals of the photodiode 130 are amplified in a signal preprocessing device and, if necessary, filtered and then fed to the evaluation electronics 14 via a line 134.
  • the evaluation electronics 14 essentially consist of a microcomputer (/ u C) 140.
  • the devices / devices 141, 142, 143 and 144 for measuring the distance, the line-of-sight angle, the floor swing and the roll rate are connected upstream of the / u C.
  • the path correction of the projectile is calculated from the determined distance of the target, the line-of-sight angle and the line-of-sight rotation speed derived therefrom, as well as the roll rate and, if applicable, the projectile swing (pitch and yaw movement).
  • the corresponding correction signals are then fed to the thrusters 16 and 17 so that the projectile can change its trajectory accordingly.
  • the distance data can also be used to trigger the ignition.
  • the distance measurement is preferably carried out using the method described in the publication by RS Rogowsky et al "Proceedings of the International Society for Optical Engineering", vol. 663, page 86. This is done using a method used, which is used in an anologic way to determine the distance with FMCW-RADAR (frequency modulated continous wave).
  • FMCW-RADAR frequency modulated continous wave
  • the emitted laser radiation is modulated so that the amplitude increases linearly in the modulation frequency within a predetermined period.
  • the output signal and the laser light reflected from the target are superimposed using a mixer. The difference in transit time between the two signals produces a low-frequency beat frequency at the mixer output, which is proportional to the distance.
  • the line of sight angle is the angle between the line of sight and the longitudinal axis of the projectile.
  • the line-of-sight angle is derived from the electrical operating parameters of the acousto-optical deflection unit in such a way that the operating voltage required for deflecting the laser beam is proportional (linear or square) to the deflection angle.
  • the line-of-sight rotation speed follows from the change in the line-of-sight angle over time and is obtained by differentiation, for example by evaluating two successive projectile rotations.
  • an acceleration pickup 15 can be used, for example, with which the rotational rate ⁇ of the projectile can be determined from the radial acceleration is determined, where b r means the radial acceleration and r the distance of the acceleration sensor 15 from the axis of rotation of the projectile (cf. also FIG. 5).
  • the corresponding correction signals are fed to the thrusters 16 and 17 shown schematically in FIG. 5.
  • 5 also shows the position of the scanning plane 19 relative to the thrusters and the position of the roll rate sensor 15.
  • the thrusters 16 and 17 are preferably attached in a line running through the center of gravity of the projectile.
  • Known hot gas or pulse engines are preferably used.
  • Scanning plane 19 and thrusters 16 and 17 are rotated by the angle ⁇ . This results in a lead time ⁇ in which the path correction can be carried out from the input parameters.
  • the time T for triggering the thrust nozzles is determined at a fixed angle ⁇ from - as described in more detail above - the rotation rate ⁇ of the projectile obtained by means of the roll rate sensor 15.
  • the roll rate sensor 15 is attached at a distance r from the axis of rotation of the projectile.
  • the scanning process can be seen in FIGS. 6 and 7.
  • the rotating projectile is designated by 10, the laser beam by 18 and a target by 20.
  • the rotation of the projectile at the angular velocity ⁇ in the range from 50 to 200 Hz results in a rosette-shaped scanning figure in the target area with periodic linear deflection of the laser beam (cf. (Fig. 2) and the distance - as described in more detail above - can be determined.

Abstract

The invention relates to a projectile (10) with an IR target seeker (12-14) arranged at the nose end and means (16, 17) for correcting the projectile (10), the target seeker (12-14) exhibiting deflection devices (123) for scanning the target area. <??>To achieve a rosette-shaped scanning of the target area without using gyro-stabilised mechanical systems, it is proposed that the projectile (10) rotates about its longitudinal axis (10'). The target seeker (12-14) contains a laser which is followed by the deflection device (123). During the scanning process, the deflection device (123) periodically linearly deflects the laser beam in a fixed scanning plane (19) located on the axis of the projectile (10') so that a rosette-shaped scanning occurs in the target area due to the rotation of the projectile (10). <IMAGE>

Description

Die Erfindung betrifft ein Geschoß, wie es durch die Merkmale des Gattungsbegriffes des Anspruchs 1 näher spezifiziert ist.The invention relates to a projectile as specified in more detail by the features of the preamble of claim 1.

Die erfolgreiche Bekämpfung taktischer und ballistischer Flugkörper mit Rohrwaffen erfordert den Einsatz von sensorunterstützter Munition mit vergleichsweise hoher Zielauffassungsreichweite und Treffgenauigkeit. Die Sensorik zur Zielbestimmung kann dabei auf aktiven und passiven Systemen beruhen. Aktive Systeme bieten dabei die Möglichkeit zur autonomen Bestimmung der Zielentfernung, erlauben damit eine modifizierte proportionale Navigation mit dem Resultat einer verbesserten Treffergenauigkeit. Bei der Mehrzahl der bisher realisierten Systeme für Lenkwaffen sind kreiselstabilisierte Systeme mit hoher mechanischer Komplexität erforderlich. Diese Systeme können den beim Abschuß auftretenden Belastungen häufig nicht ausgesetzt werden.The successful combat of tactical and ballistic missiles with barrel weapons requires the use of sensor-supported ammunition with a comparatively high target range and accuracy. The sensors for target determination can be based on active and passive systems. Active systems offer the possibility of autonomously determining the target distance, thus allowing modified proportional navigation with the result of improved hit accuracy. Most of the systems for guided missiles that have been implemented so far require gyro-stabilized systems with high mechanical complexity. These systems can often not be exposed to the stresses that occur during launch.

So ist beispielsweise aus der DE-AS 29 23 547 eine Zielsuchvorrichtung für Flugkörper bekannt, die einen passiven Sensor enthält. Diese besteht im wesentlichen aus einem Kreiselrotor, der in einem Gehäuse gelagert ist, wobei gehäusefest in dem zentralen Schwenkarm ein Detektor angeordnet ist. Auf dem Kreiselrotor befindet sich ein optisches System, welches ein im Unendlichen liegendes Suchergesichtsfeld als Gesichtsfeldbild in der Ebene des Detektors abbildet. Als Mittel zur Erzeugung der Relativbewegung zwischen Gesichtsfeldbild und Detektor ist ein Drehmomentenerzeuger vorgesehen, der auf den Kreiselrotor wirkt und von einem Abtastsignalgenerator entsprechende Abtastsignale erhält. Bei geeigneter Wahl der Abtastsignale ist es möglich, eine rosettenförmige Abtastung des Zielgebietes zu erreichen. Dieses hat insbesondere den Vorteil, daß ein in der Umgebung des Mittelpunktes erfaßtes Ziel von allen Schleifen der Rosette mehr oder weniger überstrichen wird. Es läßt sich aus den erhaltenen Detektorsignalen dann mit verhältnismäßig geringem Aufwand die Ablage des Zieles in bezug auf den Mittelpunkt ermitteln und die Zielsuchvorrichtung entsprechend nachführen.For example, from DE-AS 29 23 547 a target search device for missiles is known which contains a passive sensor. This essentially consists of a gyroscopic rotor which is mounted in a housing, a detector being arranged fixed to the housing in the central swivel arm. There is an optical on the gyro rotor System that maps an infinite viewfinder field of view as a field of view image in the plane of the detector. A torque generator, which acts on the gyro rotor and receives corresponding scanning signals from a scanning signal generator, is provided as means for generating the relative movement between the visual field image and the detector. With a suitable choice of the scanning signals, it is possible to achieve a rosette-shaped scanning of the target area. This has the particular advantage that a target detected in the vicinity of the center is more or less swept by all loops of the rosette. It can then be determined from the received detector signals with relatively little effort, the storage of the target in relation to the center and track the target seeker accordingly.

Die vorstehend beschriebene Vorrichtung einer passiven Zielsuchvorrichtung mit Rosettenabtastung wird in der DE-PS 36 23 343 weiterentwickelt. Auch in diesem Fall ist ein kreiselstabilisiertes System mit hoher mechanischer Komplexität erforderlich.The above-described device of a passive homing device with rosette scanning is further developed in DE-PS 36 23 343. In this case too, a gyro-stabilized system with high mechanical complexity is required.

In der US-PS 3,035,818 ist eine Rakete offenbart, die sowohl eine optische Zielsuchvorrichtung als auch einen optischen Annäherungszünder enthält. Dabei dient die Empfangsvorrichtung der passiven Zielsuchvorrichtung gleichzeitig als Empfänger des aktiven Annäherungszünders. Ein aktives Verfahren für die Zielsuchvorrichtung wird in dieser Schrift nicht offenbart.U.S. Patent No. 3,035,818 discloses a missile that includes both an optical homing device and an optical proximity detonator. The receiving device of the passive targeting device serves at the same time as the receiver of the active proximity detonator. An active method for the target search device is not disclosed in this document.

Der Erfindung liegt die Aufgabe zugrunde, ein Geschoß mit einem IR-Zielsuchsystem der eingangs erwähnten Art derart weiterzuentwickeln, daß einerseits auf mechanische Komponenten verzichtet wird und andererseits eine rosettenförmige Abtastung des Zielgebietes möglich ist.The invention has for its object to develop a projectile with an IR target search system of the type mentioned in such a way that mechanical components are dispensed with on the one hand and rosette-shaped scanning of the target area is possible on the other hand.

Diese Aufgabe wird erfindungsgemäß durch die Merkmale des kennzeichnenden Teiles des Anspruchs 1 gelöst.This object is achieved by the features of the characterizing part of claim 1.

Besonders vorteilhafte Ausgestaltungen der Erfindung ergeben sich aus den Unteransprüchen.Particularly advantageous embodiments of the invention result from the subclaims.

Die Erfindung basiert also auf einem aktiven laserunterstützten Sensorsystem zur Zielerkennung und Lenkung. Mittels eines im Suchkopf des rotierenden Geschosses angebrachten akusto-optischenen Sensorsystems wird der Zielbereich abgetastet. Die Geschoßlage relativ zum Ziel bzw. der Sichtlinienwinkel kann dann aus den Abtastparametern der akusto-optischenen Einrichtung durch Empfang und Auswertung des vom Ziel zurückgestreuten Laserlichtes ermittelt werden. Zur Geschoßlenkung werden mindestens zwei Steuerdüsen verwendet, die in einer festen vorgegebenen Ebene relaltiv zur Scanebene des Lasers angebracht sind.The invention is therefore based on an active laser-assisted sensor system for target recognition and steering. The target area is scanned by means of an acousto-optical sensor system mounted in the search head of the rotating projectile. The storey position relative to the target or the line of sight angle can then be determined from the scanning parameters of the acousto-optical device by receiving and evaluating the laser light scattered back from the target. At least two control nozzles are used for projectile guidance, which are attached in a fixed predetermined plane relative to the scanning plane of the laser.

Weitere Einzelheiten und Vorteile der Erfindung werden im folgenden anhand eines Ausführungsbeispieles und mit Hilfe von Figuren näher erläutert:Further details and advantages of the invention are explained in more detail below using an exemplary embodiment and with the aid of figures:

Es zeigen:

Fig. 1
den schematischen Aufbau eines erfindungsgemäßen Geschosses;
Fig. 2
den Aufbau eines Lasersende- und Scanmoduls;
Fig. 3
die Anordnung eines Empfangsmoduls des vom Ziel rückgestreuten Laserlichtes;
Fig. 4
eine Auswerteelektronik der empfangenen Signale;
Fig. 5
die schematische Ansicht der Anordnung der Schubdüsen; und
Fig. 6
und
Fig. 7
schematisch den Scanvorgang.
Show it:
Fig. 1
the schematic structure of a floor according to the invention;
Fig. 2
the construction of a laser transmitter and scan module;
Fig. 3
the arrangement of a receiving module of the laser light scattered back from the target;
Fig. 4
evaluation electronics of the received signals;
Fig. 5
the schematic view of the arrangement of the thrusters; and
Fig. 6
and
Fig. 7
schematically the scanning process.

In Fig. 1 ist mit 10 ein drallstabilisiertes Geschoß bezeichnet, welches um seine Längsachse 10' rotiert. Das Geschoß 10 besitzt einen für die IR-Strahlen durchlässigen Dom 11.In Fig. 1, 10 designates a spin-stabilized projectile which rotates about its longitudinal axis 10 '. The floor 10 has a dome 11 which is transparent to the IR rays.

Im Inneren des Geschosses 10 befinden sich ein Lasersendeund Scanmodul 12, ein Empfangsmodul 13 und eine Auswerteelektronik 14 sowie ein Rollratesensor 15 und radiale Schubdüsen 16 und 17. Der von dem Lasersende- und Scanmodul 12 ausgehende Laserstrahl ist mit 18 und die entsprechende Scanebene mit 19 bezeichnet.Inside the floor 10 there are a laser transmission and scanning module 12, a receiving module 13 and evaluation electronics 14 as well as a roll rate sensor 15 and radial thrusters 16 and 17. The laser beam emanating from the laser transmission and scanning module 12 is designated 18 and the corresponding scan plane 19 .

Der Aufbau des Lasersende- und Scanmoduls 12 ist in Fig. 2 dargestellt. Er besteht im wesentlichen aus einem Laser (z. B. DC-Festkörperlaser) 120, einer dem Laser nachgeschalteten und nur schematisch angedeuteten Linsenanordnung 121 zur Strahlkonditionierung sowie einem vorzugsweise elektro-optischen Modulator 122 zur Amplitudenmodulation des Laserstrahls. Die Amplitutenmodulation ist erforderlich, weil aufgrund der dadurch verminderten Signalbandbreite eine Erhöhung des Signal/Rausch-Verhältnisses erzielt werden kann. Weiterhin ist eine Amplitudenmodulation des Laserstrahles zur Bestimmung des Abstandes von Geschoß und Ziel notwendig (vgl. weiter unten). Die Ablenkung des Laserstrahles erfolgt mit Hilfe einer akusto-optischen Ablenkvorrichtung 123. Die Stromversorgung des Festkörperlasers 120 erfolgt mit Hilfe einer Stromversorgungsquelle 124, die von einer Steuervorrichtung 125 angesteuert wird. Mit der Steuervorrichtung 125 sind ebenfalls über eine Synchronisationsvorrichtung 126 Ansteuervorrichtungen 127 und 128 des elektro-optischen Modulators 122 bzw. der akusto-optischen Ablenkvorrichtung 123 verbunden. Die Ansteuervorrichtungen 127 bzw. 128 sind ferner über Leitungen 129 bzw. 129' mit der weiter unten beschriebenen Auswerteelektronik 14 verbunden.The structure of the laser transmitter and scan module 12 is shown in FIG. 2. It essentially consists of a laser (e.g. DC solid-state laser) 120, a lens arrangement 121 connected downstream of the laser and indicated only schematically for beam conditioning, and a preferably electro-optical modulator 122 for amplitude modulation of the laser beam. Amplitude modulation is necessary because the signal bandwidth can be increased due to the reduced signal bandwidth. Furthermore, amplitude modulation of the laser beam is necessary to determine the distance between the projectile and the target (see below). The laser beam is deflected with the aid of an acousto-optical deflection device 123. The solid-state laser 120 is supplied with power with the aid of a power supply source 124, which is controlled by a control device 125. With the control device 125, control devices 127 and 128 of the electro-optical modulator 122 or the are also connected via a synchronization device 126 acousto-optical deflector 123 connected. The control devices 127 and 128 are also connected via lines 129 and 129 'to the evaluation electronics 14 described below.

Das Empfangsmodul 13 besteht im wesentlichen aus einer schnellen Fotodiode 130. Dieser ist eine schematisch dargestellte Fokussieroptik 131 vorgeschaltet, mit der das einfallende, vom Ziel zurück reflektierte Laserlicht 132 auf die Fotodiode fokussiert wird. Die Ausgangssignale der Fotodiode 130 werden in einer Signalvorverarbeitungsvorrichtung verstärkt und ggf. gefiltert und dann über eine Leitung 134 der Auswerteelektronik 14 zugeführt.The receiving module 13 consists essentially of a fast photodiode 130. This is preceded by a schematically illustrated focusing optics 131, with which the incident laser light 132 reflected from the target is focused on the photodiode. The output signals of the photodiode 130 are amplified in a signal preprocessing device and, if necessary, filtered and then fed to the evaluation electronics 14 via a line 134.

Ein Blockschaltbild der Auswerteelektronik ist in Fig. 4 wiedergegeben. Im wesentlichen besteht die Auswerteelektronik 14 aus einem Mikrocomputer (/u C) 140. Dem /u C sind Vorrichtungen 141, 142, 143 und 144 zur Messung der Entfernung, des Sichtlinienwinkels, der Geschoßpendelung und der Rollrate vorgeschaltet. Aus der ermittelten Entfernung des Zieles, dem Sichtlinienwinkel und der daraus abgeleiteteten Sichtliniendrehgeschwindigkeit sowie der Rollrate und ggf. der Geschoßpendelung (Nick- und Gierbewegung) wird die Bahnkorrektur des Geschosses berechnet. Die entsprechenden Korrektursignale werden dann den Schubdüsen 16 und 17 zugeführt, so daß das Geschoß seine Flugbahn entsprechend ändern kann. Außerdem können die Entfernungsdaten für die Zündauslösung herangezogen werden.A block diagram of the evaluation electronics is shown in FIG. 4. The evaluation electronics 14 essentially consist of a microcomputer (/ u C) 140. The devices / devices 141, 142, 143 and 144 for measuring the distance, the line-of-sight angle, the floor swing and the roll rate are connected upstream of the / u C. The path correction of the projectile is calculated from the determined distance of the target, the line-of-sight angle and the line-of-sight rotation speed derived therefrom, as well as the roll rate and, if applicable, the projectile swing (pitch and yaw movement). The corresponding correction signals are then fed to the thrusters 16 and 17 so that the projectile can change its trajectory accordingly. The distance data can also be used to trigger the ignition.

Die Entfernungsmessung erfolgt vorzugsweise mit dem in der Publikation von R. S. Rogowsky et al "Proceedings of the International Society for Optical Engineering", vol. 663, page 86, beschriebenen Verfahren. Hierzu wird eine Methode verwendet, die in anologer Weise zur Entfernungsbestimmung beim FMCW-RADAR (frequency modulated continous wave) Anwendung findet. Die emittierte Laserstrahlung wird jedoch so moduliert, daß die Amplitude innerhalb einer vorgegebenen Periode linear in der Modulationsfrequenz ansteigt. Das Ausgangssignal und das vom Ziel reflektierte Laserlicht werden mit Hilfe eines Mischers überlagert. Durch den Laufzeitunterschied zwischen beiden Signalen entsteht am Ausgang des Mischers eine niederfrequente sog. Beatfrequenz, die der Entfernung proportional ist.The distance measurement is preferably carried out using the method described in the publication by RS Rogowsky et al "Proceedings of the International Society for Optical Engineering", vol. 663, page 86. This is done using a method used, which is used in an anologic way to determine the distance with FMCW-RADAR (frequency modulated continous wave). However, the emitted laser radiation is modulated so that the amplitude increases linearly in the modulation frequency within a predetermined period. The output signal and the laser light reflected from the target are superimposed using a mixer. The difference in transit time between the two signals produces a low-frequency beat frequency at the mixer output, which is proportional to the distance.

Im folgenden einige Anmerkungen zur Ermittlung des aktuellen Sichtlinienwinkels bzw. zur daraus abgeleiteten Sichtliniendrehgeschwindigkeit: Der Sichtlinienwinkel ist der Winkel zwischen Sichtlinie und Geschoßlängsdrehachse. Der Sichtlinienwinkel wird aus den elektrischen Betriebsparametern der akusto-optischen Ablenkeinheit abgeleitet derart, daß die zur Ablenkung des Laserstrahles notwendige Betriebsspannung proportional (linear oder quadratisch) zum Ablenkwinkel ist. Die Sichtliniendrehgeschwindigkeit folgt aus der zeitlichen Änderung des Sichtlinienwinkels und wird durch Differentiation erhalten, beispielsweise durch Auswertung zweier aufeinanderfolgender Geschoßdrehungen.In the following, some comments on the determination of the current line of sight angle or the line of sight rotation speed derived from it: The line of sight angle is the angle between the line of sight and the longitudinal axis of the projectile. The line-of-sight angle is derived from the electrical operating parameters of the acousto-optical deflection unit in such a way that the operating voltage required for deflecting the laser beam is proportional (linear or square) to the deflection angle. The line-of-sight rotation speed follows from the change in the line-of-sight angle over time and is obtained by differentiation, for example by evaluating two successive projectile rotations.

Zur Ermittlung der Rollrate kann beispielsweise ein Beschleunigungslaufnehmer 15 eingesetzt werden, mit dem aus der Radialbeschleunigung die Drehrate ω des Geschosses gemäß

Figure imgb0001
ermittelt wird, wobei br die Radialbeschleunigung und r der Abstand des Beschleunigungsaufnehmers 15 von der Drehachse des Geschosses bedeutet (vgl. auch Fig. 5).To determine the roll rate, an acceleration pickup 15 can be used, for example, with which the rotational rate ω of the projectile can be determined from the radial acceleration
Figure imgb0001
is determined, where b r means the radial acceleration and r the distance of the acceleration sensor 15 from the axis of rotation of the projectile (cf. also FIG. 5).

Unter Umständen kann es erforderlich sein, eine Korrektur des Sichtlinienwinkels aufgrund von Geschoßpendelungen (Nick- und Gierbewegung) vorzunehmen. Dies kann entweder durch den Einsatz von Kreiseln oder von Beschleunigungsaufnehmern erfolgen. Der Sichtlinienwinkel ergibt sich dabei aus den allgemeinen bekannten Formeln der sog. Body Fixed Guidance.Under certain circumstances it may be necessary to correct the line-of-sight angle due to floor oscillations (pitch and yaw movement). This can be done using either gyroscopes or accelerometers. The line of sight angle results from the generally known formulas of the so-called body fixed guidance.

Die Berechnung der Bahnkorrektur soll am Beispiel der vereinfachten Proportionalnavigation dargestellt werden. Für den Fall einer ebenen Flugbewegung ergibt sich folgende Beziehung für die Querbeschleunigung b mit der ein anfliegender Flugkörper ins Ziel gelenkt wird:

b = k · v · ( dϑ/dt + q )

Figure imgb0002


dabei bedeuten

k
eine Proportionalitätskonstante
v
die Fluggeschwindigkeit
dϑ/dt
die Sichtliniendrehgeschwindigkeit
q
die Nickwinkelgeschwindigkeit

v wird dabei aus der zeitlichen Änderung des Abstandes von Geschoß und Ziel erhalten; die Sichtliniendrehgeschwindigkeit folgt aus der zeitlichen Änderung des Sichtlinienwinkels. Die Nickwinkelgeschwindigkeit kann entweder mit Hilfe der Kreiselsignale oder entsprechend angeordneter - hier nicht näher erläuterter Konfiguration von Beschleunigungsaufnehmern korrigiert werden. Für die im allgemeinen Fall auftretende Geschoßbewegung im Raum müssen zusätzlich Roll- und Gierbewegung einbezogen werden.The calculation of the path correction should be shown using the example of simplified proportional navigation. In the case of a plane flight movement, the following relationship results for the lateral acceleration b with which an approaching missile is directed to the target:

b = kv (dϑ / dt + q)
Figure imgb0002


mean
k
a proportionality constant
v
the airspeed
dϑ / dt
the line of sight rotation speed
q
the pitch angular velocity

v is obtained from the temporal change in the distance between the storey and the target; the line-of-sight rotation speed follows from the change in the line-of-sight angle over time. The pitch angular velocity can be corrected either with the aid of the gyro signals or a correspondingly arranged configuration of accelerometers, which is not explained in more detail here. For the projectile movement in the room that generally occurs, roll and yaw movement must also be included.

Die entsprechenden Korrektursignale werden den in Fig. 5 schematisch dargestellten Schubdüsen 16 und 17 zugeführt. Aus Fig. 5 geht ebenfalls die Lage der Scanebene 19 relativ zu den Schubdüsen sowie die Lage des Rollratesensors 15 hervor. Die Schubdüsen 16 und 17 werden vorzugsweise in einer durch den Schwerpunkt des Geschosses verlaufenden Linie angebracht. Vorzugsweise werden an sich bekannte Heißgas- oder Impulstriebwerke verwendet. Scanebene 19 und Schubdüsen 16 und 17 sind um den Winkel δ verdreht. Damit ergibt sich eine Vorhaltezeit τ, in der die Durchführung der Bahnkorrektur aus den Eingangsparametern erfolgen kann. Die Ermittelung der Zeit T zur Auslösung der Schubdüsen erfolgt bei festem Winkel δ aus - wie oben näher beschrieben - der mittels des Rollratesensors 15 gewonnenen Drehrate ω des Geschosses. Der Rollratesensor 15 wird dabei im Abstand r von der Drehachse des Geschosses angebracht.The corresponding correction signals are fed to the thrusters 16 and 17 shown schematically in FIG. 5. 5 also shows the position of the scanning plane 19 relative to the thrusters and the position of the roll rate sensor 15. The thrusters 16 and 17 are preferably attached in a line running through the center of gravity of the projectile. Known hot gas or pulse engines are preferably used. Scanning plane 19 and thrusters 16 and 17 are rotated by the angle δ. This results in a lead time τ in which the path correction can be carried out from the input parameters. The time T for triggering the thrust nozzles is determined at a fixed angle δ from - as described in more detail above - the rotation rate ω of the projectile obtained by means of the roll rate sensor 15. The roll rate sensor 15 is attached at a distance r from the axis of rotation of the projectile.

Der Scanvorgang ist aus den Fig. 6 und 7 entnehmbar. Dabei ist mit 10 wiederum das rotierende Geschoß, mit 18 der Laserstrahl und mit 20 ein Ziel bezeichnet. Durch die Rotation des Geschosses mit der Winkelgeschwindigkeit ω im Bereich von 50 bis 200 Hz entsteht bei periodischer linearer Ablenkung des Laserstrahls im Zielbereich eine rosettenförmige Abtastfigur (vgl. Fig. 7), in der der Sichtlinienwinkel λ aus den Abtastparametern des akusto-optischen Moduls 123 (Fig. 2) und die Entfernung - wie oben näher beschrieben - ermittelt werden.The scanning process can be seen in FIGS. 6 and 7. The rotating projectile is designated by 10, the laser beam by 18 and a target by 20. The rotation of the projectile at the angular velocity ω in the range from 50 to 200 Hz results in a rosette-shaped scanning figure in the target area with periodic linear deflection of the laser beam (cf. (Fig. 2) and the distance - as described in more detail above - can be determined.

Bezugszeichenliste:Reference symbol list:

1010th
GeschoßBullet
10'10 '
Längsachse des GeschossesLongitudinal axis of the floor
1111
DomCathedral
1212
Lasersende- und ScanmodulLaser transmitter and scan module
120120
Laserlaser
121121
LinsenoptikLens optics
122122
elektro-optischer Modulatorelectro-optical modulator
123123
akusto-optische Ablenkvorrichtungacousto-optical deflection device
124124
StromversorgungsquellePower source
125125
SteuervorrichtungControl device
126126
SynchronisationsvorrichtungSynchronization device
127127
Ansteuervorrichtung für 122Control device for 122
128128
Ansteuervorrichtung für 123Control device for 123
129129
elektrische Leitungelectrical line
129'129 '
elektrische Leitungelectrical line
1313
EmpfangsmodulReceiving module
130130
PhotodiodePhotodiode
131131
FokussieroptikFocusing optics
132132
vom Ziel rückgestreutes LaserlichtLaser light scattered back from the target
133133
SignalvorverarbeitungsvorrichtungSignal preprocessing device
134134
elektrische Leitungelectrical line
1414
AuswerteelektronikEvaluation electronics
140140
Rechner (/u C)Calculator (/ u C)
141141
Vorrichtung zur Messung der EntfernungDistance measuring device
142142
Vorrichtung zur Messung des SichtlinienwinkelsDevice for measuring the line of sight angle
143143
Vorrichtung zur Messung der GeschoßpendelungDevice for measuring the level swing
144144
Vorrichtung zur Messung der RollrateDevice for measuring the roll rate
145145
Schubdüsensteuervorrichtung u. ZündvorrichtungThruster control device u. Igniter
146146
elektrische Leitungelectrical line
147147
elektrische Leitungelectrical line
1515
RollratesensorRoll rate sensor
1616
radiale Schubdüseradial thruster
1717th
radiale Schubdüseradial thruster
1818th
Laserstrahllaser beam
1919th
ScanebeneScan level
2020th
Zieltarget
2121
rosettenförmige Abtastfigurrosette-shaped scanning figure
2222
SchubdüsenebeneThruster level

Claims (4)

Geschoß (10) mit einem bugseitig angeordneten IR-Zielsuchsystem (12, 13, 14) und Mitteln (16, 17) zur Flugkorrektur des Geschosses (10), wobei das Zielsuchsystem (12-14) zur Abtastung des Zielgebietes Ablenkvorrichtungen (123) aufweist, dadurch gekennzeichnet, daß das Geschoß (10) um seine Längsachse (10') rotiert, daß das Zielsuchsystem (12-14) einen Laser enthält, dem die Ablenkvorrichtung (123) nachgeschaltet ist, und daß die Ablenkvorrichtung (123) den Laserstrahl beim Abtastvorgang periodisch linear in einer festen, in der Geschoßachse (10') liegenden Scanebene (19) ablenkt, so daß aufgrund der Rotation des Geschosses (10) im Zielbereich eine rosettenförmige Abtastung (Fig. 7) erfolgt.Projectile (10) with an IR target search system (12, 13, 14) and means (16, 17) for flight correction of the projectile (10), the target search system (12-14) having deflection devices (123) for scanning the target area , characterized in that the projectile (10) rotates about its longitudinal axis (10 '), that the targeting system (12-14) contains a laser, which is followed by the deflection device (123), and that the deflection device (123) the laser beam at Scanning periodically linearly deflects in a fixed, in the projectile axis (10 ') scanning plane (19), so that due to the rotation of the projectile (10) in the target area a rosette-shaped scanning (Fig. 7) takes place. Geschoß nach Anspruch 1, dadurch gekennzeichnet, daß als Ablenkvorrichtung des Laserstrahls (123) eine akusto-optische Ablenkvorrichtung verwendet wird.Projectile according to claim 1, characterized in that an acousto-optical deflection device is used as the deflection device of the laser beam (123). Geschoß nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß dem Laser (120) zusätzlich zur Ablenkvorrichtung (123) ein elektro-optischer Modulator (122) zur Amplitudenmodulation des Laserstrahles nachgeschaltet ist.Projectile according to Claim 1 or 2, characterized in that, in addition to the deflection device (123), the laser (120) is followed by an electro-optical modulator (122) for amplitude modulation of the laser beam. Geschoß nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß als Mittel zur Kurskorrektur mindestens zwei Schubdüsen (16, 17) vorgesehen sind, die in einer fest vorgegebenen Ebene (22) relativ zur Scanebene (19) des Lasertrahles (18) angeordnet sind.Projectile according to one of claims 1 to 3, characterized in that at least two thrust nozzles (16, 17) are provided as means for course correction, which are arranged in a predetermined plane (22) relative to the scanning plane (19) of the laser beam (18) .
EP90119791A 1990-03-10 1990-10-16 Projectile with a bow affixed IR seeker Withdrawn EP0446413A1 (en)

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US5088659A (en) 1992-02-18
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