JPH01312398A - Missile launching and guiding device - Google Patents
Missile launching and guiding deviceInfo
- Publication number
- JPH01312398A JPH01312398A JP14176188A JP14176188A JPH01312398A JP H01312398 A JPH01312398 A JP H01312398A JP 14176188 A JP14176188 A JP 14176188A JP 14176188 A JP14176188 A JP 14176188A JP H01312398 A JPH01312398 A JP H01312398A
- Authority
- JP
- Japan
- Prior art keywords
- coordinate system
- ship
- missile
- fire
- guidance
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000001131 transforming effect Effects 0.000 abstract 1
- 238000010304 firing Methods 0.000 description 10
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
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- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
Description
【発明の詳細な説明】
［発明の目的］
（産業上の利用分野）
この発明は、海上から例えばミサイルを発射して射撃目
標に命中させる飛翔体発射誘導装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a flying object launch guidance device for launching, for example, a missile from the sea and hitting a target.
（従来の技術）
周知のようにミサイルの射撃訓練は広い範囲の制限区域
が必要であり、日本では海岸から海に向かって射撃する
のが常である。しかし、ミサイルの飛行距離が伸びたも
のの、近海での交通が多くなり、補償の問題も含めて海
岸からミサイルを射撃することが困難になってきている
。そこで、最近では艦上にミサイル射撃場を作る構想が
出てきている。(Prior Art) As is well known, missile firing training requires a wide restricted area, and in Japan it is customary to fire from the coast toward the sea. However, although the flight range of missiles has increased, there has been an increase in traffic in nearby waters, making it difficult to fire missiles from the coast due to compensation issues and other issues. Recently, there has been an idea to build a missile firing range on board the ship.
ここで、艦上からの射撃は、陸地からの射撃に比べ、艦
が潮流によって流される点、艦が波によって多少揺れる
点で問題がある。ミサイルは最終的には射撃目標に命中
すればよいので、結果だけを評価するなら射撃目標の座
標でミサイルの座標を表わし、その最小点すなわちミス
デイスタンス射撃の評価を行なう場合、射撃目標の誘導
、ミサイルの発射方向、発射後の誘導について、艦の流
れによる距離的な変化、艦の揺れによる角度変化を共に
補正する必要がある。Here, firing from a ship has a problem compared to firing from land in that the ship is washed away by the currents and the ship is swayed by the waves to some extent. Ultimately, the missile only needs to hit the shooting target, so if you want to evaluate only the result, you can express the missile's coordinates by the shooting target's coordinates, and when evaluating the minimum point, that is, misdistance shooting, you can use the shooting target's guidance. Regarding the launch direction of the missile and its post-launch guidance, it is necessary to compensate for changes in distance due to the flow of the ship and changes in angle due to the rocking of the ship.
（発明が解決しようとする課題）
以上述べたように、ミサイル、射撃目標等の飛翔体の発
射及び誘導を艦上か°ら行う場合、射撃目標の誘導、ミ
サイルの発射方向、発射後の誘導について、艦の流れに
よる位置変化、艦の揺れによる角度変化を共に補正する
必要がある。(Problems to be Solved by the Invention) As described above, when launching and guiding flying objects such as missiles and shooting targets from a ship, there are issues regarding the guidance of the shooting target, the direction of missile launch, and the guidance after launch. It is necessary to correct for both positional changes due to the ship's flow and angle changes due to the ship's sway.
この発明は上記課題を解決するためになされたもので、
艦の位置変化、角度変化に係わらず、艦上から飛翔体の
発射、誘導を正確に行い得る飛翔体発射誘導装置を提供
することを目的とする。This invention was made to solve the above problems,
To provide a flying object launch guidance device capable of accurately launching and guiding a flying object from a ship, regardless of changes in the position and angle of the ship.
［発明の構成〕
（課題を解決するための手段）
上記目的を達成するためにこの発明に係る飛翔体発射誘
導装置は、艦上から飛翔体を発射及び誘導するものにお
いて、前記艦に設けられ地球座標系を検出する慣性装置
と、前記艦に設けられ前記慣性装置で得られる地球座標
系に対する艦の座標系のずれ角を検出するずれ角検出手
段と、この手段で得られたずれ角情報に基づいて前記飛
翔体の発射誘導制御の座標系を補正して地球座標系に変
換する座標系変換手段とを具備して構成される。[Structure of the Invention] (Means for Solving the Problem) In order to achieve the above object, a flying object launch guidance device according to the present invention is provided for launching and guiding a flying object from a ship, and is installed on the ship and an inertial device for detecting a coordinate system; a deviation angle detection means provided on the ship for detecting a deviation angle of the ship's coordinate system with respect to the earth coordinate system obtained by the inertial device; and deviation angle information obtained by this means. and coordinate system conversion means for correcting the coordinate system for launch guidance control of the flying object based on the coordinate system and converting it into the earth coordinate system.
（作用）
上記構成による飛翔体発射誘導装置では、発射誘導制御
の座標系を地球座標系に変換するので、艦の位置変化、
角度変化によらずに飛翔体を発射誘導することができる
。(Function) The projectile launch guidance device with the above configuration converts the launch guidance control coordinate system to the earth coordinate system, so changes in the ship's position,
It is possible to launch and guide a flying object without changing the angle.
（実施例）
以下、第１図を参照してこの発明の一実施例を説明する
。(Embodiment) An embodiment of the present invention will be described below with reference to FIG.
第１図は艦Ｓから射撃目標Ｔを飛行誘導し、この射撃目
標Ｔに向けてミサイルＭを発射誘導するシステムにこの
発明を適用した場合の構成を示すもので、艦Ｓには慣性
装置（ＩＮＳ）１１、ミサイル射撃統制装置（Ｆｅ２）
１２、ミサイル発射機１３、射撃目標誘導装置１４が設
けられている。Figure 1 shows a configuration in which the present invention is applied to a system that guides a firing target T from a ship S and launches a missile M toward the firing target T. INS) 11, missile fire control system (Fe2)
12, a missile launcher 13, and a shooting target guidance device 14 are provided.
慣性装置１１は地球の磁極に基づいて磁北方向及びこの
磁北方向に垂直な水平方向を示し、地球を基べへにした
座標系（以下、地球座標系と称する）（ｅ、Φ）を作る
。一方、ミサイル射撃統制装置１２のプラットホーム１
２１には任意の時刻の方位角θ及び仰角φを検出する角
度センサ１２２ 、１２３が取付けられており、ミサイ
ル発射時に出力値を（０，Ｏ）にリセットしておき、以
後角度を積分してＦＣ３座標系（θ、φ）を出力する。The inertial device 11 indicates the magnetic north direction and the horizontal direction perpendicular to the magnetic north direction based on the earth's magnetic poles, and creates a coordinate system (hereinafter referred to as the earth coordinate system) (e, Φ) based on the earth. On the other hand, platform 1 of the missile fire control system 12
21 is equipped with angle sensors 122 and 123 that detect the azimuth angle θ and the elevation angle φ at any time.The output value is reset to (0, O) at the time of missile launch, and the angle is then integrated. Outputs the FC3 coordinate system (θ, φ).
この角度センサ１２２ 、 １２３としては、レートジ
ャイロの積分出力を用いるもの、インチグレートジャイ
ロの出力を用いるものがある。慣性装置１１は上記角度
センサ１２２ 、１２３で検出されたＦＣ５座標系（θ
、φ）を入力し、地球座標系（ｅ、Φ）とのずれ分（θ
−θ、Φ−φ）を検出する。The angle sensors 122 and 123 include those that use the integral output of a rate gyro and those that use the output of an inch rate gyro. The inertial device 11 uses the FC5 coordinate system (θ
, φ), and calculate the deviation from the earth coordinate system (e, Φ) (θ
−θ, Φ−φ).
ミサイル射撃統制装置１２は慣性装置１１からずれ情報
（θ−θ、Φ−φ）を受取り、この情報に基づいてミサ
イル発射方向を設定する座標系を補正し、この補正した
座標系に設定された方向指令に基づいてミサイル発射機
１３の発射方向を制御する方位角制御信号δ及び仰角制
御信号εを作成する。The missile fire control device 12 receives the deviation information (θ-θ, Φ-φ) from the inertial device 11, corrects the coordinate system for setting the missile launch direction based on this information, and sets the coordinate system to this corrected coordinate system. An azimuth control signal δ and an elevation control signal ε for controlling the firing direction of the missile launcher 13 are created based on the direction command.
射撃目標誘導装置１４はレーダ装置１４１によって射撃
目標の位置を方位角δ′及び仰角ε′の角度情報で検出
し、この角度情報（δ′、ε′）を座標変換器１４２に
入力する。この座標変換器１４２はレーダ装置からの角
度情報（δ′、ε′）と慣性装置１１からのずれ情報（
θ−θ、Φ−φ）との角度差δ′−（ｅ−θ）、ε′−
（Φ−φ）を求め、この角度差情報を元に射撃目標制御
装置１４３の誘導座標系を作成する。射撃目標制御装置
１４３はその誘導座標系に基づいて射撃目標Ｔの誘導信
号を生成し、射撃目標Ｔへ向けて送出する。The shooting target guidance device 14 detects the position of the shooting target using the angular information of the azimuth angle δ' and the elevation angle ε' using the radar device 141, and inputs this angular information (δ', ε') to the coordinate converter 142. This coordinate converter 142 uses angle information (δ', ε') from the radar device and deviation information (
θ-θ, Φ-φ) angular difference δ'-(e-θ), ε'-
(Φ-φ) is determined, and a guidance coordinate system for the shooting target control device 143 is created based on this angular difference information. The shooting target control device 143 generates a guidance signal for the shooting target T based on the guidance coordinate system, and sends it toward the shooting target T.
上記構成において、以下その運用について説明する。The operation of the above configuration will be explained below.
まず、慣性装置１１は自身で磁北方向及び水平方向を示
し、両方向に基づいて地球座標系（ｅ、Φ）を作る。こ
の地球座標系を基準とし、初期状態でミサイル射撃統制
装置１２のＦＣ３座標系を地球座標系に一致させると共
に、プラットフォーム１２１に設けた角度センサ１２２
、１２３の検出角度θ、φを共にＯとする。つまり、
艦Ａの揺れは角度センサ１２２ 、１２３の検出角度θ
、φとなって現われる。First, the inertial device 11 indicates the magnetic north direction and the horizontal direction by itself, and creates an earth coordinate system (e, Φ) based on both directions. Using this earth coordinate system as a reference, the FC3 coordinate system of the missile fire control system 12 is made to match the earth coordinate system in the initial state, and the angle sensor 122 provided on the platform 121
, 123, the detection angles θ and φ are both O. In other words,
The shaking of ship A is determined by the detected angle θ of angle sensors 122 and 123.
, φ.
この角度情報（θ、φ）は基準とする地球座標系（ｅ、
Φ）とＦＣ３座標系とのずれ角を示す。This angle information (θ, φ) is based on the earth coordinate system (e,
Φ) and the FC3 coordinate system.
そこで、慣性装置１１にて地球座標系（θ、Φ）から予
めすれ角（θ、φ）を減算し、この減算結果（ｅ−θ、
Φ−φ）によりＦＣ３座標系を補正し、地球座標系に変
換する。これにより、ミサイル射撃統制装置１２で作成
されるミサイル発射機１３の発射方向を制御する方位角
制御信号δ及び仰角制御信号εは地球座標系に基づくこ
とになる。Therefore, the inertial device 11 subtracts the slip angle (θ, φ) from the earth coordinate system (θ, φ) in advance, and the subtraction result (e−θ,
The FC3 coordinate system is corrected by Φ-φ) and converted to the earth coordinate system. As a result, the azimuth control signal δ and the elevation control signal ε that control the firing direction of the missile launcher 13, which are created by the missile fire control device 12, are based on the earth coordinate system.
一方、射撃目標誘導装置１４では、レーダ装置１４１で
射撃目標Ｔの角度情報δ′、ε′を捕えるが、これらの
角度情報は艦Ａの座標系、すなわちＦＣ３座漂系に基づ
く。そこで、座標変換器１４２でレーダ装置１４１から
の角度情報（δ′、ε′）と慣性装置１１からのずれ情
報（ｅ−θ、Φ−φ）との角度差δ′−（ｅ−θ）、ε
′−（Φ−φ）を求め、この角度差情報を元に射撃目標
制御装置１４３の誘導座標系を作成して地球座標系に変
換する。これにより、射撃目標制御装置１４３は地球座
標系に変換された射撃目標Ｔの誘導信号を生成し、射撃
目標Ｔへ向けて送出するので、射撃目標Ｔは地球座標系
に基づいて飛行することになる。On the other hand, in the shooting target guidance device 14, the radar device 141 captures angle information δ' and ε' of the shooting target T, but this angular information is based on the coordinate system of the ship A, that is, the FC3 stranding system. Therefore, the coordinate converter 142 calculates the angle difference δ'-(e-θ) between the angle information (δ', ε') from the radar device 141 and the deviation information (e-θ, Φ-φ) from the inertial device 11. ,ε
'-(Φ-φ) is determined, and based on this angular difference information, a guidance coordinate system for the shooting target control device 143 is created and converted to the earth coordinate system. As a result, the shooting target control device 143 generates a guidance signal for the shooting target T converted into the earth coordinate system and sends it toward the shooting target T, so that the shooting target T flies based on the earth coordinate system. Become.
尚、艦Ａは潮流によって流されるが、これは時間的に無
視できるものである。つまり、ミサイル発射撃目標Ｔは
共に角度によって制御されるので、遠距離の射撃目標Ｔ
を扱う限り問題は生じない（射撃目標Ｔまでの距離とｌ
ｌ１Ａが流された距離との比は小さく、角度にすればほ
とんど無視できる）。Incidentally, ship A is swept away by the current, but this can be ignored in terms of time. In other words, since the missile firing target T is both controlled by the angle, the long-range firing target T
No problem will arise as long as the distance to the shooting target T and l
The ratio to the distance l1A was swept is small and can be almost ignored in terms of angle).
したかって、上記構成によれば、ミサイルＭの発射方向
制御も射撃目標Ｔの飛行制御も地球座標系に基づいた角
度により制御されるので、艦Ａの潮流による位置変化や
揺れによる角度変化に係わることなく、各制御を正確に
行うことができる。Therefore, according to the above configuration, since the launch direction control of the missile M and the flight control of the shooting target T are controlled by angles based on the earth coordinate system, changes in the position of the ship A due to tidal currents and angle changes due to swaying are not affected. Each control can be performed accurately without any trouble.
尚、」二足実施例ではＦＣ３座標系を地球座標系に補正
するようにしたが、射撃統制装置１２と発射機１３が共
にＦＣ３座標系であり、発射後はミサイルＭ自身で射撃
目標Ｔを検知して自己誘導していくような場合、特に地
球座標系に変換しなくてもよいことは勿論である。In addition, in the two-legged embodiment, the FC3 coordinate system is corrected to the earth coordinate system, but both the fire control device 12 and the launcher 13 are in the FC3 coordinate system, and after launch, the missile M itself can aim at the target T. Of course, when detecting and self-guiding, there is no need to convert to the earth coordinate system.
［発明の効果］
以上のようにこの発明によれば、艦の位置変化、角度変
化に係わらず、艦上から飛翔体の発射、誘導を正確に行
い得る飛翔体発射誘導装置を提供することができる。[Effects of the Invention] As described above, according to the present invention, it is possible to provide a flying object launch guidance device that can accurately launch and guide a flying object from a ship, regardless of changes in the position or angle of the ship. .
第１図はこの発明に係る飛翔体発射誘導装置の一実施例
を示すブロック図である。
Ｓ・・・艦、Ｔ・・・射撃目標、Ｍ・・・ミサイル、１
１・・・慣性装置（ＩＮＳ）、１２・・・ミサイル射撃
統制装置（Ｆｅ２）、１２１・・・プラットホーム１２
１．１２２ 。
１２３・・・角度センサ、１３・・・ミサイル発射機、
１４・・・射撃目標誘導装置、１４１・・・レーダ装置
、１４２・・・座標変換器、１４３・・・射撃目標制御
装置。FIG. 1 is a block diagram showing an embodiment of a flying object launch guidance device according to the present invention. S...ship, T...shooting target, M...missile, 1
1... Inertial system (INS), 12... Missile fire control system (Fe2), 121... Platform 12
1.122. 123...Angle sensor, 13...Missile launcher,
14... Shooting target guidance device, 141... Radar device, 142... Coordinate converter, 143... Shooting target control device.
Claims (1)
において、前記艦に設けられ地球座標系を検出する慣性
装置と、前記艦に設けられ前記慣性装置で得られる地球
座標系に対する艦の座標系のずれ角を検出するずれ角検
出手段と、この手段で得られたずれ角情報に基づいて前
記飛翔体の発射誘導制御の座標系を補正して地球座標系
に変換する座標系変換手段とを具備する飛翔体発射誘導
装置。A projectile launch guidance device that launches and guides a projectile from a ship, includes an inertial device installed on the ship to detect an earth coordinate system, and a coordinate system of the ship relative to the earth coordinate system obtained by the inertial device installed in the ship. a deviation angle detection means for detecting a deviation angle of the object; and a coordinate system conversion means for correcting a coordinate system for launch guidance control of the flying object and converting it into an earth coordinate system based on the deviation angle information obtained by this means. Equipped with a flying object launch guidance device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14176188A JPH01312398A (en) | 1988-06-10 | 1988-06-10 | Missile launching and guiding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14176188A JPH01312398A (en) | 1988-06-10 | 1988-06-10 | Missile launching and guiding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01312398A true JPH01312398A (en) | 1989-12-18 |
Family
ID=15299574
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14176188A Pending JPH01312398A (en) | 1988-06-10 | 1988-06-10 | Missile launching and guiding device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01312398A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020044886A (en) * | 2000-12-07 | 2002-06-19 | 송재인 | Regulation apparatus for shooting of projectile |
-
1988
- 1988-06-10 JP JP14176188A patent/JPH01312398A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020044886A (en) * | 2000-12-07 | 2002-06-19 | 송재인 | Regulation apparatus for shooting of projectile |
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