JP2003139499A - Initialization method for missile - Google Patents
Initialization method for missileInfo
- Publication number
- JP2003139499A JP2003139499A JP2001334453A JP2001334453A JP2003139499A JP 2003139499 A JP2003139499 A JP 2003139499A JP 2001334453 A JP2001334453 A JP 2001334453A JP 2001334453 A JP2001334453 A JP 2001334453A JP 2003139499 A JP2003139499 A JP 2003139499A
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- Japan
- Prior art keywords
- aircraft
- flying
- initialization
- flying object
- gps
- Prior art date
- 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.)
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- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、飛翔体における初
期化方法に関し、特に、航空機搭載型飛翔体は、敵地制
圧、敵海制圧、敵空制圧、模擬標的等様々な形態で使用
され、空対空、空対地ミサイルにおいては航空機に搭載
され敵地近傍において発射することがその運用効率、機
動性、コスト、自己防衛の観点から非常に有効である。
その際、飛翔体に対する動作指令を行うことは、ミッシ
ョン上必要不可欠なものであり、初期化は通常飛翔体へ
の指令入力、或いは航法装置への初期位置の入力、慣性
航法装置の姿勢角、方位角、位置、速度の初期化データ
を供給するために航空機搭載型飛翔体においては必ず必
要な操作或いはシーケンスである。本発明は、航空機に
搭載されて携行中の無人の飛翔体に対して、２．４ギガ
ヘルツを中心とする周波数帯域のブルートゥース方式等
の無線手段によって電源投入、初期化操作及び慣性航法
装置の初期化等に関するデータの送信を航空機側から飛
翔体に対して行い、さらにＧＰＳ受信機のトラック信号
を慣性航法装置の初期方位角として用いることにより、
慣性航法装置の初期化を効率よく行うための新規な改良
に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an initialization method for a flying object, and in particular, an aircraft-mounted flying object is used in various forms such as enemy land suppression, enemy sea suppression, enemy air suppression, simulated target, For air-to-air and air-to-ground missiles, it is very effective to be mounted on an aircraft and fired in the vicinity of the enemy's land in terms of operational efficiency, mobility, cost, and self-defense.
At that time, it is indispensable for the mission to give an operation command to the flying object, and the initialization is usually the command input to the flying object, the input of the initial position to the navigation device, the attitude angle of the inertial navigation device, This is a necessary operation or sequence in an airborne vehicle to supply initialization data for azimuth, position, and velocity. The present invention relates to an unmanned air vehicle carried in an aircraft and carried by a wireless means such as a Bluetooth system having a frequency band centering on 2.4 GHz, powering on, initializing operation and initializing an inertial navigation system. By transmitting the data regarding the conversion to the flying object from the aircraft side, and by using the track signal of the GPS receiver as the initial azimuth angle of the inertial navigation device,
The present invention relates to a new improvement for efficiently initializing an inertial navigation system.
【０００２】[0002]
【従来の技術】従来、用いられていたように、この種の
航空機に搭載後離脱し、自立航法を行うようにした飛翔
体においては、この飛翔体が航空機に携行されている時
に、航空機に搭載されたデータバス等とコネクタ等の電
気的結合手段を介して飛翔体に接続させ、飛翔体の動作
コマンド、初期値データ、目標位置、その他飛翔体の航
法に必要なデータを全て入力するようにしていた。2. Description of the Related Art As has been conventionally used, in a flying vehicle which is mounted on an aircraft of this kind and then detached to perform self-contained navigation, the flying vehicle is carried by the aircraft while it is carried. Connect to the projectile via an electrical connection means such as a data bus and a connector installed, and input all the commands necessary for the flight command, initial value data, target position, and other navigation of the projectile. I was doing.
【０００３】[0003]
【発明が解決しようとする課題】従来の飛翔体への各種
データの入力は、以上のように構成されていたため、次
のような課題が存在していた。すなわち、これまで飛翔
体を搭載していない航空機に飛翔体を搭載させるように
するためには、機体の大幅な改修を行わなければなら
ず、多大な費用と時間を必要としてきた。また、この航
空機と飛翔体との間のデータの送・受信を行うための電
気的結合手段に接続された制御用操作盤を航空機のコッ
クピット内に設置することは、狭いコックピット内で障
害となり、飛翔体の円滑な運用に多大な悪影響を与える
ことになっていた。Since the conventional input of various data to the flying object is configured as described above, the following problems exist. That is, in order to mount a flying body on an aircraft that has not been equipped with a flying body until now, it has been necessary to refurbish the aircraft drastically, which requires a great deal of cost and time. Also, installing a control operation panel connected to an electrical coupling means for transmitting and receiving data between the aircraft and the flying object in the cockpit of the aircraft is an obstacle in a narrow cockpit, It was supposed to have a great adverse effect on the smooth operation of the flying object.
【０００４】本発明は、以上のような課題を解決するた
めになされたもので、特に、航空機の機体改修をするこ
となく航空機搭載型飛翔体への指令、初期化データの供
給を可能にし、それらの費用、期間を最小にすると共
に、同時に設置されたＧＰＳ受信機により機体の航法デ
ータを取得し飛翔体の慣性装置に送信することにより、
飛行途中で慣性装置の初期化を可能にすることで、例え
飛翔体が航空機の翼下に置かれ、ＧＰＳ信号が受信でき
なくても機体の航法データを用い初期化を行うことがで
きるようにした飛翔体における初期化方法を提供するこ
とを目的とする。The present invention has been made to solve the above problems, and in particular, enables the supply of commands and initialization data to an aircraft-mounted flying body without repairing the aircraft body. By minimizing those costs and period, and simultaneously acquiring the navigation data of the airframe by the GPS receiver installed and transmitting it to the inertial device of the flying vehicle,
By enabling the initialization of the inertial device during flight, even if the flying object is placed under the wing of the aircraft and GPS signals cannot be received, initialization can be performed using the navigation data of the aircraft. An object is to provide an initialization method for a flying object.
【０００５】[0005]
【課題を解決するための手段】本発明による飛翔体にお
ける初期化方法は、航空機に搭載後離脱し自立航法を行
う飛翔体が前記航空機に携行されている状態で、前記飛
翔体の少なくとも電源投入、初期化操作及び慣性航法装
置の初期化に関するデータの送信を前記航空機側から行
うようにした飛翔体における初期化方法において、前記
データの送信及び受信は２．４〜２．４８ギガヘルツの
周波数帯域を用いた無線手段で行う方法であり、また、
前記無線手段は、ブルートゥース発信機及びブルートゥ
ース受信機よりなる方法であり、また、前記航空機に設
けられたＧＰＳ受信機からのＧＰＳ信号を前記無線手段
により前記飛翔体に送信することによって、前記飛翔体
の慣性航法装置は前記ＧＰＳ信号を用いて前記離脱前に
前記飛翔体の姿勢、方位、速度及び位置を計算する方法
であり、また、前記ＧＰＳ受信機からのトラック信号を
前記慣性航法装置の初期方位角として用いることにより
前記慣性航法装置の初期化を行う方法である。A method of initializing a flying object according to the present invention is such that at least the power supply of the flying object is turned on while the flying object that is detached after being mounted on an aircraft and performs self-contained navigation is carried by the aircraft. In an initialization method for a flying vehicle, wherein the initialization operation and the data transmission related to the initialization of the inertial navigation device are performed from the aircraft side, the transmission and the reception of the data include a frequency band of 2.4 to 2.48 GHz. Is a method of performing by wireless means using
The wireless means is a method including a Bluetooth transmitter and a Bluetooth receiver, and the flying body is transmitted by transmitting a GPS signal from a GPS receiver provided in the aircraft to the flying body. Is a method of calculating the attitude, azimuth, speed and position of the flying object before the departure using the GPS signal, and the track signal from the GPS receiver is used as an initial value of the inertial navigation device. In this method, the inertial navigation device is initialized by using it as an azimuth angle.
【０００６】[0006]
【発明の実施の形態】以下、図面と共に本発明による飛
翔体における初期化方法の好適な実施の形態について説
明する。まず、本発明の概略について述べる。本発明
は、飛翔体特に航空機搭載後離脱し自立航法を行う飛翔
体において飛翔体が航空機に携行されている状態で飛翔
体の電源投入、初期化操作、内蔵慣性航法装置の初期化
等のデータを送信する方法において、それらの送信をブ
ルートゥース等の無線手段により行うことを特徴とする
初期化手段である。また、その無線装置にＧＰＳアンテ
ナ、ＧＰＳ受信機を取り付け、パイロット席の任意の場
所に設置することにより、ＧＰＳ信号を飛翔体に送信す
ると、飛翔体内部の慣性航法装置は、そのＧＰＳ信号を
用いて離脱前に飛翔体の姿勢・方位・速度・位置を計算
する。これにより慣性センサ等の誤差をあらかじめ推定
することが可能になる。さらにその際の初期設定におい
てＧＰＳのトラック信号を慣性航法装置の初期方位角と
して使用することにより、慣性航法装置の初期化が効率
よく行われるようにするための方法である。すなわち、
図１で示される構成は、ジェット戦闘機等の航空機１の
翼２の翼下にミサイル等の飛翔体３が発射時に離脱して
飛行することができるように携行されている状態を示し
ている。前記航空機１の機体４のコックピット５内に
は、周知の商標名ブルートゥース方式による２．４〜
２．４８ギガヘルツの周波数帯域を送受信帯域として用
いるブルートゥース発信機６、ＧＰＳアンテナ７及びＧ
ＰＳ受信機８が設けられている。BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of a method for initializing a flying object according to the present invention will be described below with reference to the drawings. First, the outline of the present invention will be described. The present invention relates to data of a power-on, initializing operation, initialization of a built-in inertial navigation device, etc. of a flying object, particularly a flying object that is detached after being mounted on an aircraft and performs self-contained navigation while the flying object is carried by the aircraft. In the method of transmitting, the initialization means is characterized in that the transmission is performed by wireless means such as Bluetooth. When a GPS antenna and a GPS receiver are attached to the wireless device and the GPS signal is transmitted to the flying object by installing the GPS antenna and the GPS receiver at any place in the pilot seat, the inertial navigation device inside the flying object uses the GPS signal. Calculate the attitude, orientation, speed, and position of the flying object before departure. This allows the error of the inertial sensor or the like to be estimated in advance. Further, it is a method for efficiently initializing the inertial navigation device by using the GPS track signal as the initial azimuth angle of the inertial navigation device in the initial setting at that time. That is,
The configuration shown in FIG. 1 shows a state in which a projectile 3 such as a missile is carried under the wing 2 of an aircraft 1 such as a jet fighter so that the projectile 3 can be separated and fly at the time of launch. In the cockpit 5 of the airframe 4 of the aircraft 1, 2.4-
Bluetooth transmitter 6, GPS antenna 7 and G using the frequency band of 2.48 GHz as a transmission and reception band
A PS receiver 8 is provided.
【０００７】前記飛翔体３には、前記ブルートゥース発
信機６と同様に構成されたブルートゥース受信機９、飛
行制御コンピュータ１０、慣性航法装置１１、ＧＰＳア
ンテナ１２及びＧＰＳ受信機１３が設けられている。前
記ＧＰＳアンテナ１２及びＧＰＳ受信機１３は、前記飛
翔体３が翼２の下側に取付けられているため、この翼２
の陰にかくれることになり、ＧＰＳ衛星からのＧＰＳ衛
星信号は受信不可の状態に構成されている。尚、前述の
ブルートゥース発信機６及びブルートゥース受信機９に
よって航空機１と飛翔体３間のデータの伝送（ブルート
ゥース方式の無線送受信では、約１０ｍ位しか送受信距
離がなく、他の電子機器への影響も少なく安定して用い
ることができる）に使用される無線手段２０を構成し、
この無線手段２０はブルートゥース方式のみではなく他
の周知の無線を用いることもできる。The flying body 3 is provided with a Bluetooth receiver 9, a flight control computer 10, an inertial navigation system 11, a GPS antenna 12 and a GPS receiver 13 which are constructed in the same manner as the Bluetooth transmitter 6. In the GPS antenna 12 and the GPS receiver 13, since the flying body 3 is attached to the lower side of the wing 2, the wing 2
Therefore, the GPS satellite signal from the GPS satellite is configured to be unreceivable. Data transmission between the aircraft 1 and the flying object 3 by the above-mentioned Bluetooth transmitter 6 and Bluetooth receiver 9 (the wireless transmission / reception of the Bluetooth method has a transmission / reception distance of only about 10 m, which may affect other electronic devices). The wireless means 20 used for
The wireless unit 20 can use not only the Bluetooth system but also other well-known wireless systems.
【０００８】前記コックピット５側においては、ブルー
トゥース発信機６がＣＰＵ２１と接続されていると共
に、このＣＰＵ２１にはコックピット５内のパイロット
の頭上位置等に設けられたキーボード等からなる操作盤
２２が設けられている。前記操作盤２２の操作により、
ＣＰＵ２１を介して飛翔体３側に対してデータの送信を
行うことができるように構成されている。On the cockpit 5 side, the Bluetooth transmitter 6 is connected to the CPU 21, and the CPU 21 is provided with an operation panel 22 such as a keyboard provided above the pilot's head in the cockpit 5. ing. By operating the operation panel 22,
Data is transmitted to the flying body 3 side via the CPU 21.
【０００９】前記飛翔体３におけるブルートゥース受信
機９は慣性航法装置１１に接続された飛行制御コンピュ
ータ１０と接続され、ＧＰＳアンテナ１２と接続された
ＧＰＳ受信機１３と前記飛行制御コンピュータ１０が接
続されている。The Bluetooth receiver 9 in the flying vehicle 3 is connected to the flight control computer 10 connected to the inertial navigation device 11, and the GPS receiver 13 connected to the GPS antenna 12 and the flight control computer 10 are connected. There is.
【００１０】次に、前述の構成においてＧＰＳ信号によ
る飛翔体３側の慣性航法装置１１の初期化を行う場合に
ついて述べる。まず、飛翔体３を携行した航空機１が飛
翔体３の予定発射空域に近づいたとき、機体４の搭載操
作盤２２に電源が入れられる。この操作盤２２は前述の
無線化によって非常に小型軽量であるので、可搬である
と共にコックピット５内、例えばパイロット頭部や肩部
等への脱着も容易化され飛翔体３の運用効率を高めるこ
とができる。まずＧＰＳ受信機８によりその位置が計測
された後、ブルートゥース発信機６により飛翔体３に対
しての電源投入コマンドが送信される。これにより飛翔
体３に電源が投入されると同時に操作盤２２からの初期
化コマンドとＧＰＳ受信データが飛翔体３に送信され
る。飛翔体３内部の慣性航法装置１１は操作盤２２から
のＧＰＳデータを用いて、飛翔体３の姿勢・方位・速度
・位置を複合航法演算により算出する。このとき初期方
位角は、ＧＰＳトラック信号３０を用い、図３に示すよ
うにそれぞれＧＰＳ速度３１・ＧＰＳ位置３２を観測値
としてカルマンフィルター３３等を用いて初期化データ
を高精度に検出する。この際、使用する慣性センサの精
度はこのアルゴリズムにより誤差推定が可能であるので
比較的安価なジャイロにおいても飛翔体３の初期化が可
能になる。初期化終了後操作盤２２からの分離指令によ
り飛翔体３が機体４から分離され自立航法によりそのミ
ッションを遂行する。Next, a case will be described in which the inertial navigation device 11 on the side of the flying vehicle 3 is initialized by the GPS signal in the above-described configuration. First, when the aircraft 1 carrying the flying body 3 approaches the planned launch airspace of the flying body 3, the power supply to the onboard operation panel 22 of the body 4 is turned on. Since the operation panel 22 is extremely small and lightweight due to the wireless communication described above, it is portable and can be easily attached / detached to / from the cockpit 5, for example, the pilot's head or shoulders, thereby improving the operational efficiency of the flying vehicle 3. be able to. First, after the position is measured by the GPS receiver 8, the Bluetooth transmitter 6 transmits a power-on command to the flying body 3. As a result, the power of the flying object 3 is turned on, and at the same time, the initialization command and GPS reception data from the operation panel 22 are transmitted to the flying object 3. The inertial navigation device 11 inside the flying vehicle 3 uses GPS data from the operation panel 22 to calculate the attitude, azimuth, speed, and position of the flying vehicle 3 by a complex navigation calculation. At this time, as the initial azimuth, the GPS track signal 30 is used, and as shown in FIG. 3, the Kalman filter 33 or the like is used as the observed values of the GPS speed 31 and the GPS position 32 to detect the initialization data with high accuracy. At this time, since the accuracy of the inertial sensor used can be estimated by this algorithm, the flying object 3 can be initialized even in a relatively inexpensive gyro. After the initialization is completed, the flying body 3 is separated from the body 4 by the separation command from the operation panel 22, and the mission is performed by the self-contained navigation.
【００１１】尚、前述のＧＰＳ受信機８からのＧＰＳ信
号８ａによる飛翔体３の慣性航法装置１１の初期化の動
作は図３に示される通りである。すなわち、前述したよ
うに、ＧＰＳ速度３１及びＧＰＳ位置３２がカルマンフ
ィルター３３に入力されて処理されることにより補正量
３４が得られて初期化データとして用いられるが、真方
位，位置算出３５を行う際にＧＰＳトラック信号３０を
真方位位置算出３５に入力し、トルキングレート算出３
６及び角速度３７からクォータニオン積算３８によって
方向余弦算出３９を行い、姿勢・方位算出４０を行って
いる。The operation of initializing the inertial navigation system 11 of the flying vehicle 3 by the GPS signal 8a from the GPS receiver 8 is as shown in FIG. That is, as described above, the GPS velocity 31 and the GPS position 32 are input to the Kalman filter 33 and processed to obtain the correction amount 34, which is used as initialization data, but the true azimuth and position calculation 35 is performed. At this time, the GPS track signal 30 is input to the true azimuth position calculation 35 to calculate the torque rate 3
6, the direction cosine 39 is calculated by the quaternion integration 38 from the angular velocity 37 and the angular velocity 37, and the posture / azimuth calculation 40 is performed.
【００１２】前記方向余弦算出３９と加速度４１による
座標変換４２によって得た座標と補正速度４３によって
速度算出４４が行われ、この速度がＧＰＳ速度３１と比
較されて誤差速度４５として前記カルマンフィルター３
３に入力されると共に、真方位，位置算出３５の真方
位，位置とＧＰＳ位置３２とが比較されて誤差位置４６
が前記カルマンフィルター３３に入力されている。尚、
前述の無線手段２０を用いた初期化のみではなく、飛翔
体の発射前の自己点検結果を航空機側で確認する双方向
通信も可能である。この無線手段２０には赤外線通信も
用いることができる。A velocity 44 is calculated from the coordinate obtained by the direction cosine calculation 39 and the coordinate conversion 42 by the acceleration 41 and the corrected velocity 43, and this velocity is compared with the GPS velocity 31 to obtain the error velocity 45 as the Kalman filter 3
3 is input, and the true azimuth and position of the position calculation 35 are compared with the GPS position 32 to determine the error position 46.
Is input to the Kalman filter 33. still,
Not only the initialization using the wireless means 20 described above, but also bidirectional communication for confirming the self-inspection result before launching the flying object on the aircraft side is possible. Infrared communication can also be used for the wireless means 20.
【００１３】[0013]
【発明の効果】本発明による飛翔体における初期化方法
は、以上のように構成されているため、次のような効果
を得ることができる。すなわち、本発明により、航空機
と飛翔体間のデータ送信を無線で行い、かつ、航空機側
のＧＰＳ信号を飛翔体側の慣性航法装置へ送信できるた
め、航空機搭載後離脱され自立航法を行う飛翔体におい
てその携行する航空機側の機体の改修を行うことなく、
飛翔体の動作指令等のコマンドや慣性航法装置の初期化
データを送信することができる。またＧＰＳ等のデータ
をその送信データとすることにより、飛翔体の分離前に
慣性航法装置の初期化データが得られるため、比較的安
価な慣性センサによっても高精度な姿勢・方位・速度・
位置等のデータを得る事ができる。また、その際ＧＰＳ
信号のトラック信号を慣性航法装置の初期方位角として
使用することにより、慣性航法装置の初期化を効率よく
行うことができる。さらに飛翔体内ブルートゥース受信
機は、図示しない飛翔体内ブルートゥース送信機との間
の信号授受にも共用できるものである。Since the method for initializing a flying object according to the present invention is configured as described above, the following effects can be obtained. That is, according to the present invention, data transmission between an aircraft and a flying body can be performed wirelessly, and a GPS signal on the side of the aircraft can be transmitted to an inertial navigation device on the side of the flying body. Without refurbishing the aircraft on the carrying side,
It is possible to transmit commands such as operation commands for flying objects and initialization data for the inertial navigation device. Further, by using the data of GPS or the like as the transmission data, the initialization data of the inertial navigation device can be obtained before the separation of the flying object. Therefore, the attitude / direction / speed /
Data such as position can be obtained. Also, at that time, GPS
By using the track signal of the signal as the initial azimuth angle of the inertial navigation device, the inertial navigation device can be efficiently initialized. Further, the in-flight Bluetooth receiver can also be used for exchanging signals with an in-flight Bluetooth transmitter (not shown).
【図面の簡単な説明】[Brief description of drawings]
【図１】本発明による飛翔体における初期化方法を示す
概略構成図である。FIG. 1 is a schematic configuration diagram showing an initialization method in a flying object according to the present invention.
【図２】図１の要部の構成を具体的に示すブロック図で
ある。FIG. 2 is a block diagram specifically showing a configuration of a main part of FIG.
【図３】図２の慣性航法装置の初期化を示すブロック図
である。FIG. 3 is a block diagram showing initialization of the inertial navigation system of FIG.
１ 航空機 ３ 飛翔体 ６ ブルートゥース発信機 ８ ＧＰＳ受信機 ８ａ ＧＰＳ信号 ９ ブルートゥース受信機 １１ 慣性航法装置 ２０ 無線手段 ３０ トラック信号 1 aircraft 3 flying bodies 6 bluetooth transmitter 8 GPS receiver 8a GPS signal 9 bluetooth receiver 11 Inertial navigation system 20 wireless means 30 track signals
───────────────────────────────────────────────────── フロントページの続き (72)発明者 熊谷 秀夫 長野県飯田市大休1879番地 多摩川精機株 式会社内 (72)発明者 伊藤 康生 長野県長野市稲里町下氷鉋1163番地 長野 日本無線株式会社内 ─────────────────────────────────────────────────── ─── Continued front page (72) Inventor Hideo Kumagai 1879 Okyu, Iida City, Nagano Prefecture Tamagawa Seiki Co., Ltd. Inside the company (72) Inventor Yasuo Ito Nagano Prefecture Nagano City Inari Town Shimoice plane 1163 Nagano Within Japan Radio Co., Ltd.
Claims (4)
う飛翔体(3)が前記航空機(1)に携行されている状態で、
前記飛翔体(3)の少なくとも電源投入、初期化操作及び
慣性航法装置(11)の初期化に関するデータの送信を前記
航空機(1)側から行うようにした飛翔体における初期化
方法において、前記データの送信及び受信は２．４〜
２．４８ギガヘルツの周波数帯域を用いた無線手段(20)
で行うことを特徴とする飛翔体における初期化方法。1. A flying vehicle (3) for carrying out self-contained navigation after being detached from an aircraft (1) after being carried by the aircraft (1),
At least the power-on of the flying vehicle (3), initialization operation and initialization data of the inertial navigation device (11) is transmitted from the aircraft (1) side in the initialization method in the flying object, the data, For sending and receiving
Radio means using the frequency band of 2.48 GHz (20)
A method for initializing a flying object, characterized in that
信機(6)及びブルートゥース受信機(9)よりなることを特
徴とする請求項１記載の飛翔体における初期化方法。2. The initialization method for a flying object according to claim 1, wherein the wireless means (20) comprises a Bluetooth transmitter (6) and a Bluetooth receiver (9).
機(8)からのＧＰＳ信号(8a)を前記無線手段(20)により
前記飛翔体(3)に送信することによって、前記飛翔体(3)
の慣性航法装置(11)は前記ＧＰＳ信号(8a)を用いて前記
離脱前に前記飛翔体(3)の姿勢、方位、速度及び位置を
計算することを特徴とする請求項１又は２記載の飛翔体
における初期化方法。3. The flying object by transmitting a GPS signal (8a) from a GPS receiver (8) provided in the aircraft (1) to the flying object (3) by the wireless means (20). (3)
3. The inertial navigation device (11) according to claim 1, wherein the GPS signal (8a) is used to calculate the attitude, orientation, speed and position of the flying body (3) before the departure. Initialization method for flying objects.
号(30)を前記慣性航法装置(11)の初期方位角として用い
ることにより前記慣性航法装置(11)の初期化を行うこと
を特徴とする請求項３記載の飛翔体における初期化方
法。4. The inertial navigation device (11) is initialized by using a track signal (30) from the GPS receiver (8) as an initial azimuth angle of the inertial navigation device (11). The method for initializing a flying object according to claim 3.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001334453A JP3914413B2 (en) | 2001-10-31 | 2001-10-31 | Initialization method for flying objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001334453A JP3914413B2 (en) | 2001-10-31 | 2001-10-31 | Initialization method for flying objects |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2003139499A true JP2003139499A (en) | 2003-05-14 |
| JP3914413B2 JP3914413B2 (en) | 2007-05-16 |
Family
ID=19149576
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001334453A Expired - Fee Related JP3914413B2 (en) | 2001-10-31 | 2001-10-31 | Initialization method for flying objects |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010048425A (en) * | 2008-08-19 | 2010-03-04 | Ihi Aerospace Co Ltd | Initiation system |
| JP2012193965A (en) * | 2011-03-15 | 2012-10-11 | Mitsubishi Electric Corp | Position estimating device, and position estimating method and position estimating position program for position estimating device |
| KR101337299B1 (en) * | 2013-08-22 | 2013-12-05 | 엘아이지넥스원 주식회사 | Method for lanuching underwater vehicle |
| KR101337298B1 (en) * | 2013-08-22 | 2013-12-05 | 엘아이지넥스원 주식회사 | System for lanuching underwater vehicle |
| KR101750498B1 (en) * | 2016-07-12 | 2017-06-23 | 엘아이지넥스원 주식회사 | Guidance system and method for guided weapon using inertial navigation |
| KR20230033271A (en) * | 2021-09-01 | 2023-03-08 | 주식회사 한화방산 | Apparatus and method for verifying the performance of guided weapon transfer alignment |
| DE102022119831A1 (en) | 2022-08-07 | 2024-02-08 | Robert Brun | Wings, aircraft, vehicles, procedures for them |
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2001
- 2001-10-31 JP JP2001334453A patent/JP3914413B2/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010048425A (en) * | 2008-08-19 | 2010-03-04 | Ihi Aerospace Co Ltd | Initiation system |
| JP2012193965A (en) * | 2011-03-15 | 2012-10-11 | Mitsubishi Electric Corp | Position estimating device, and position estimating method and position estimating position program for position estimating device |
| KR101337299B1 (en) * | 2013-08-22 | 2013-12-05 | 엘아이지넥스원 주식회사 | Method for lanuching underwater vehicle |
| KR101337298B1 (en) * | 2013-08-22 | 2013-12-05 | 엘아이지넥스원 주식회사 | System for lanuching underwater vehicle |
| KR101750498B1 (en) * | 2016-07-12 | 2017-06-23 | 엘아이지넥스원 주식회사 | Guidance system and method for guided weapon using inertial navigation |
| KR20230033271A (en) * | 2021-09-01 | 2023-03-08 | 주식회사 한화방산 | Apparatus and method for verifying the performance of guided weapon transfer alignment |
| KR102519303B1 (en) | 2021-09-01 | 2023-04-06 | 주식회사 한화방산 | Apparatus and method for verifying the performance of guided weapon transfer alignment |
| DE102022119831A1 (en) | 2022-08-07 | 2024-02-08 | Robert Brun | Wings, aircraft, vehicles, procedures for them |
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|---|---|
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