JPH08338700A - Multiple guidance device of airframe - Google Patents

Abstract

PURPOSE: To provide a multiple guidance device of an airframe which is capable of discriminating whether it is a target or a non target by finding the direction and the size of the target and guiding a larger target preferentially when there exist a plurality of targets. CONSTITUTION: A multiple guidance device of an airframe is provided with an active raider 3 ad an image sensor 5 and a computer 4 where the computer 4 inputs a distance RL from an airframe 2 up to the left end of a target 1 and a distance RR from the airframe 2 up to the right end of the target 1 by means of the active raider 3 and inputs a visible image angle θ from the image sensor 5 to the target and computes the size L of the target 1 and its direction ϕ and outputs a control signal to a control device of the airframe 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guidance control device for a flying vehicle (for example, an anti-ship missile).

[0002]

2. Description of the Related Art In the prior art, in order to know the size of a target object (for example, a target ship), an active radar is used as shown in FIG. 6, and the distance R to the target object and the received power of the radar reflected wave are used. The radar reflection surface σ of the target is calculated from Pr, and this σ is equivalent to the size of the target.

[0003]

In the determination of the size of the target by the conventional technique, there are the following problems to be solved.
That is, the radar reflection surface σ of the target largely changes depending on various conditions such as the direction of the target with respect to the radar and the shape of the upper structure.

Therefore, there is a case that the size of the target does not always match, and the expected discrimination effect cannot be obtained. Also, simply the radar reflection surface σ of the target
When a target object is selected depending on the size, the radar reflection of a non-target object such as a small island may be captured and tracked as the target object. The present invention aims to provide a device capable of solving these problems.

[0005]

A composite guidance system for a flying object according to the present invention comprises (A) an active radar, (B) an image sensor and (C) a computer, and (D) the computer,
The distance from the flying object to the left end of the target (RL) and the distance to the right end (RR) are input by the active radar, and the view angle (θ) to the target is input from the image sensor to determine the size of the target. (L) and direction (ψ) are calculated, and a control signal is output to the control device of the flying object.

That is, according to the present invention, the data from the active radar and the image sensor are integrated by a computer to detect the size (hull length L) and direction (ψ) of the target. Among them, the active radar detects the distance (RL) to the left end of the target and the distance (RR) to the right end of the target. From these differences, the depth of the target (χ = | R
L-RR |) and obtain the distance (R) from these averages to the target. Further, the image sensor detects the lateral spread width of the target as the angular width, that is, the view angle (θ).

[0007]

[Action]

(1) The distance R to the target object and the length component Rθ of the hull length L in the angular direction are obtained from the view angle θ. (2) The hull length L is obtained from (hull length L) ² = (depth in distance direction) ² + (length component in angular direction) ² . (3) The absolute value | ψ | of the direction (angle) of the target is obtained from the hull length L and the depth χ in the distance direction. (4) The sign of the orientation (angle) of the target is obtained from the approximate orientation of the target (whether the left side is the front side or the right side is the front side). (5) The orientation of the target can be obtained from the above (3) and (4).

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention is shown in FIGS. FIG. 1 is a schematic diagram of the first embodiment, in which 1 is a target and 2 is a flying object. FIG. 2 is a block diagram of the first embodiment, 3 is an active radar, 4 is a computer, and 5 is an image sensor. Three
~ 5 is equipped in the flying body.

The flying body 2 approaches the target object by operating the active radar 3 and the image sensor 5 as sensors in order to capture and track the target object 1. At the time when the active radar 3 and the image sensor 5 which are the sensors of the flying object 2 capture the target object, the computer 4 calculates the length L of the target object and the direction ψ of the target object according to the block diagram of FIG. The control signal is output to the control device of the flying object.

That is, the active radar 3 can obtain the distances RR and RL to the right and left ends of the target 1, and the depth χ of the target 1 in the distance direction can be obtained from the difference between RR and RL.
(.Chi. =. Vertline.RL -RR.vertline.) Can be obtained.

Next, the image sensor 5 obtains an angle width θ (that is, an image viewing angle θ) of the target 1. By calculating these pieces of information (the length L of the target object and the direction ψ of the target object) by the following (1) and (2), the length L of the target object and the direction ψ of the target object can be obtained. it can.

[0012]

[Equation 1]

By obtaining the length L of the target object and the direction ψ of the target object, it becomes possible for the flying object to have the following functions. (1) Target discriminating function between a target object (about 200 m in total length with a warship) and a non-target object (tanker or island with a total length of 400 m or more) (2) A target selection function that, when a plurality of targets are captured, compares the length L of each target with the direction ψ and selects the target (for example, selects the longest ship L). (3) Adjust the hit direction of the flying object to the target object from the direction ψ of the target object (for example, ψ so that the flying object does not bounce).
Hit direction adjustment function to hit from ± 90 °. (How to Obtain Instantaneous Viewing Angle λ and Image Viewing Angle θ of Target) (Instantaneous Viewing Angle λ) As an example, the case of the following conditions will be described (FIG. 3). (A) Number of pixels of IIR element (Image Infra red Rays; infrared image); 128 × 128 (b) Size of individual element; 30 μm (c) Focal length of optical system; 100 mm It can be obtained from (3).

[0014]

[Equation 2] (Image viewing angle θ of target) The image viewing angle θ of the target can be obtained as follows.

128 × 12 in the current image of FIG.
For each of the elements of No. 8, the elements having the threshold value or more are set to 1, and the elements of less than 0 are set to 0, and the binarized image FIG. 4B is obtained. And
By accumulating the number of pixels of 1 for the binarized image, a characteristic curve as shown in FIG. 5 is obtained.

AB having a large slope of the characteristic curve in FIG.
The part corresponds to the target. When the number of pixels on the horizontal axis CD corresponding to the portion AB in FIG. 5 is k pixels, the view angle θ of the target object can be obtained from the following equation (4).

[0017]

(Equation 3)

[0018]

Since the present invention is constructed as described above, the following effects can be obtained. (1) By knowing the direction and size of the target object, it is possible to discriminate between the target object and the non-target object. (2) When there are a plurality of targets, it is possible to preferentially guide a large target, and it is possible to effectively strike the target.

[Brief description of drawings]

FIG. 1 is an overall schematic diagram according to a first embodiment of the present invention.

FIG. 2 is a block diagram of the first embodiment.

FIG. 3 is a diagram showing how to determine an instantaneous viewing angle λ.

FIG. 4 is a diagram showing a binarized image of a target.

FIG. 5 is a diagram showing a method of obtaining an image viewing angle θ of a target object.

FIG. 6 is a block diagram showing a conventional technique.

[Explanation of symbols]

 1 ... Target (for example, target ship), 2 ... Flying object, 3 ... Active radar, 4 ... Calculator, 5 ... Image sensor, R ... Distance from flying object to target object, RL ... Flying object to target object To the left end of RR ... Distance from the flying object to the right end of the target, k ... Number of pixels, λ ... Instantaneous viewing angle, θ ... View angle, χ ... Depth in the distance direction of the target.

Claims (1)

[Claims] 1. A flying body guiding device comprising: (A)
An active radar (3), (B) an image sensor (5), and (C) a computer (4), and (D) the computer (4).
Inputs the distance (RL) from the flying vehicle (2) to the left end of the target (1) and the distance (RR) to the right end of the target (1) using the active radar (3), and the distance from the image sensor (5) to the target An image viewing angle (θ) is input, a size (L) and a direction (ψ) of the target object (1) are calculated, and a control signal is output to the control device of the flying object (2). Complex guidance device for the body.