JPH05119836A - Control equipment for flying body - Google Patents
Control equipment for flying bodyInfo
- Publication number
- JPH05119836A JPH05119836A JP3279443A JP27944391A JPH05119836A JP H05119836 A JPH05119836 A JP H05119836A JP 3279443 A JP3279443 A JP 3279443A JP 27944391 A JP27944391 A JP 27944391A JP H05119836 A JPH05119836 A JP H05119836A
- Authority
- JP
- Japan
- Prior art keywords
- flying
- flying body
- flying object
- radio wave
- control device
- 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
- 238000005259 measurement Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 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 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
Landscapes
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は飛翔体の管制装置に関
し、特に無人飛行機等を自動的に一定温度で飛行させる
ための飛翔体の管制装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flight control device, and more particularly to a flight control device for automatically flying an unmanned airplane at a constant temperature.
【０００２】[0002]
【従来の技術】従来のこの種の飛翔体の管制装置を図３
に例示する。管制装置２０は、電波４により飛翔体１へ
指令を送信し、また飛翔体１からのデータを含む電波５
を受信するアンテナ３に接続されている。管制装置２０
では、飛翔体１から発せられる電波５をアンテナ３によ
って補足し、追随すると共に、飛翔体１に搭載している
各種センサから得られた速度、高度、姿勢等のデータを
乗せた電波５を受信し、送受信機２１にて信号変換した
後、これらのデータを表示パネル２２にて可視表示す
る。2. Description of the Related Art FIG. 3 shows a conventional control device for a flying object of this type.
For example. The control device 20 transmits a command to the flying body 1 by the radio wave 4 and also transmits the command by the radio wave 5 including the data from the flying body 1.
Is connected to the antenna 3 for receiving. Control device 20
Then, the radio wave 5 emitted from the flying object 1 is captured and followed by the antenna 3, and the radio wave 5 carrying the data such as the speed, altitude, and attitude obtained from various sensors mounted on the flying object 1 is received. Then, after signal conversion by the transceiver 21, these data are visually displayed on the display panel 22.
【０００３】また飛翔体１を操作するコントローラ（パ
イロット）２３は、表示パネル２２に表示されるデータ
（高速，高度，姿勢角等）を監視し、このデータをもと
に飛翔体１への指令を決定して指示パネル２４を操作
し、電波４により飛翔体１の遠隔操作を行なう。A controller (pilot) 23 for operating the flying body 1 monitors the data (high speed, altitude, attitude angle, etc.) displayed on the display panel 22, and commands the flying body 1 based on this data. Is determined and the instruction panel 24 is operated, and the flying body 1 is remotely controlled by the radio wave 4.
【０００４】[0004]
【発明が解決しようとする課題】この従来の飛翔体の管
制装置では、飛翔体１を一定高度で飛行させる場合、飛
翔体１内に搭載されたセンサで計測されたデータを管制
装置２０内でコントローラ２３が監視し、さらにこの結
果に基づいてコントローロ２３が飛翔体の制御量を決定
していたが、この作業負荷が大きいという問題点があ
る。In this conventional air vehicle control device, when the air vehicle 1 is made to fly at a constant altitude, the data measured by the sensor mounted in the air vehicle 1 is stored in the air control device 20. Although the controller 23 monitors and the controller 23 determines the control amount of the flying object based on this result, there is a problem that this work load is large.
【０００５】またこれを自動で行う場合には、飛翔体内
に一定高度で飛行する為の演算装置を必要とする為、経
済的負担が大きくなるという問題点もある。Further, when this is automatically performed, there is a problem that an economic burden is increased because an arithmetic unit for flying at a constant altitude is required in the flying body.
【０００６】[0006]
【課題を解決するための手段】本発明の管制装置は、飛
翔体の方向に指向するアンテナに接続されており、該ア
ンテナの角度及び前記飛翔体との距離の測定結果に応じ
て前記飛翔体の高度を演算する演算手段と、その演算結
果に応じて前期飛翔体を所望の高度で飛行させる為の指
令信号を自動的に送信する指令手段とを備えている。The control device of the present invention is connected to an antenna directed in the direction of a flying object, and the flying object is determined according to the measurement result of the angle of the antenna and the distance to the flying object. And an instruction means for automatically transmitting an instruction signal for causing the flying vehicle to fly at a desired altitude in accordance with the result of the operation.
【０００７】[0007]
【実施例】次に本発明について図面を参照して説明す
る。図１は本発明の一実施例の構成図である。管制装置
２の送受信機２５にて、管制装置２からの指令用の電波
４と飛翔体１からのテレメトリ用の電波５との時間差に
より管制装置２と飛翔体１との距離を求め、さらに管制
装置２のアンテナ３の角度から管制装置２と飛翔体１と
をなす角度を求める。これらのデータは演算装置２６に
送られ、飛翔体１と管制装置２とを距離及び飛翔体１と
管制装置２とのなす角度から飛翔体１の高度を計算し、
またこの計算結果から飛翔体１の操舵量（制御量）を計
算し、電波４を送信して飛翔体１の遠隔操縦を行う。The present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of an embodiment of the present invention. The transmitter / receiver 25 of the control device 2 obtains the distance between the control device 2 and the flying object 1 by the time difference between the command radio wave 4 from the control device 2 and the telemetry radio wave 5 from the flying object 1, and further controls From the angle of the antenna 3 of the device 2, the angle between the control device 2 and the flying body 1 is obtained. These data are sent to the arithmetic unit 26, and the altitude of the flying object 1 is calculated from the distance between the flying object 1 and the control device 2 and the angle between the flying object 1 and the control device 2,
Further, the steering amount (control amount) of the flying object 1 is calculated from this calculation result, and the radio wave 4 is transmitted to remotely control the flying object 1.
【０００８】図２は本実施例における上述の距離計測及
び角度検出を例示する側面図である。まず管制装置２に
接続されたアンテナ３から飛翔体１へ指令用の電波４を
送信する。この電波４を飛翔体１側で一旦取込むと共
に、管制装置２へ向けテレメトリ用の電波５を送信す
る。管制装置２では、電波４と電波５との時間差によ
り、飛翔体１と管制装置２との距離Ｌを算出する。さら
に飛翔体１から送信された電波５に対し電波強度の一番
強い方角、即ち飛翔体１の方向へアンテナ３が向くよう
に制御して、アンテナ３の角度θを検出する。この結果
として得られる距離Ｌ及び角度θから飛翔体１の高度Ｈ
を次式により求める。FIG. 2 is a side view illustrating the above-described distance measurement and angle detection in this embodiment. First, a radio wave 4 for command is transmitted from the antenna 3 connected to the control device 2 to the flying body 1. The radio wave 4 is temporarily taken in by the flying body 1 side, and at the same time, the radio wave 5 for telemetry is transmitted to the control device 2. The control device 2 calculates the distance L between the flying object 1 and the control device 2 based on the time difference between the radio waves 4 and 5. Further, the angle θ of the antenna 3 is detected by controlling the antenna 3 so that the antenna 3 is directed in the direction having the strongest radio wave intensity with respect to the radio wave 5 transmitted from the flying object 1, that is, the direction of the flying object 1. From the distance L and the angle θ obtained as a result, the altitude H of the flying object 1
Is calculated by the following formula.
【０００９】Ｈ＝Ｌｓｉｎθ 次に管制装置２の演算装置２６において、この高度デー
タ及び飛翔体１の姿勢角データをもとに、あらかじめ定
められた演算を行い、飛翔体１の操舵量（制御量）を決
定し、電波４を介して飛翔体１へ送信される。H = Lsin θ Next, the arithmetic unit 26 of the control unit 2 performs a predetermined arithmetic operation based on the altitude data and the attitude angle data of the flying object 1 to calculate the steering amount (control amount of the flying object 1). ) Is determined and transmitted to the flying object 1 via the radio wave 4.
【００１０】以上説明したように本実施例では、変化す
る飛翔体１の高度を管制装置２において測定監視し、得
られた飛翔体１の高度を管制装置２において測定監視
し、得られた飛翔体１の高度のデータを基に飛翔体１の
操舵量（制御量）を決定し、電波４を介して飛翔体１に
指令を送ることにより、飛翔体１を自動的に一定高度で
飛翔されることができる。As described above, in this embodiment, the changing altitude of the flying body 1 is measured and monitored by the control unit 2, and the obtained altitude of the flying unit 1 is measured and monitored by the control unit 2 and the obtained flying position is obtained. By determining the steering amount (control amount) of the flying body 1 based on the altitude data of the body 1 and sending a command to the flying body 1 via the radio wave 4, the flying body 1 is automatically fly at a constant altitude. You can
【００１１】[0011]
【発明の効果】以上説明したように本発明によれば、飛
翔体管制装置との距離及び飛翔体と管制装置との垂直方
向のなす角度から飛翔体の高度を求め、これが一定とな
るように飛翔体を自動的に遠隔操縦するこができ、コン
トラーラの負荷を大幅に軽減できる。またこれを自動で
行う場合には、飛翔体内に定高度で飛行する為の演算装
置が必要であったが、本発明によれば、管制装置内に演
算装置を設けてあるので、飛翔体には演算装置を設ける
必要が無くなり、飛翔体における経済的負担を軽減でき
る。As described above, according to the present invention, the altitude of the flying object is obtained from the distance between the flying object control device and the angle formed by the vertical direction between the flying object and the control device so that the altitude is constant. The flying object can be remotely controlled automatically, and the load on the controller is greatly reduced. Further, in the case of automatically performing this, an arithmetic unit for flying at a constant altitude in the flying body was required, but according to the present invention, since the arithmetic unit is provided in the control unit, Eliminates the need to provide an arithmetic unit and can reduce the economic burden on the flying object.
【図１】本発明の実施例の構成図。FIG. 1 is a configuration diagram of an embodiment of the present invention.
【図２】本発明の実施例を示す側面図。FIG. 2 is a side view showing an embodiment of the present invention.
【図３】従来の管制装置の構成図。FIG. 3 is a configuration diagram of a conventional control device.
１ 飛翔体 ２，２０ 管制装置 ３ アンテナ ４，５ 電波 ２１，２５ 送受信機 ２２ 表示パネル ２３ コントローラ ２４ 指令パネル ２６ 演算装置 1 Flying Body 2, 20 Control Device 3 Antenna 4, 5 Radio Wave 21, 25 Transmitter / Receiver 22 Display Panel 23 Controller 24 Command Panel 26 Computing Device
Claims (1)
されており、該アンテナの角度及び前記飛翔体との距離
の測定結果に応じて前記飛翔体の高度を演算する演算手
段と、その演算結果に応じて前期飛翔体を所望の高度で
飛行させる為の指令信号を自動的に送信する指令手段と
を備えていることを特徴とする飛翔体の管制装置。1. An arithmetic unit, which is connected to an antenna directed in the direction of a flying object, and which calculates the altitude of the flying object according to the measurement result of the angle of the antenna and the distance to the flying object, and the calculation thereof. A control device for a flying object, comprising: a command means for automatically transmitting a command signal for causing the flying object to fly at a desired altitude in accordance with a result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3279443A JPH05119836A (en) | 1991-10-25 | 1991-10-25 | Control equipment for flying body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3279443A JPH05119836A (en) | 1991-10-25 | 1991-10-25 | Control equipment for flying body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH05119836A true JPH05119836A (en) | 1993-05-18 |
Family
ID=17611143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3279443A Pending JPH05119836A (en) | 1991-10-25 | 1991-10-25 | Control equipment for flying body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH05119836A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6195512B1 (en) * | 1993-02-12 | 2001-02-27 | Canon Kabushiki Kaisha | Camera adapted for films provided with magnetic storage portions |
| KR101268344B1 (en) * | 2006-04-11 | 2013-06-04 | 엘아이지넥스원 주식회사 | Air defence firing control system |
-
1991
- 1991-10-25 JP JP3279443A patent/JPH05119836A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6195512B1 (en) * | 1993-02-12 | 2001-02-27 | Canon Kabushiki Kaisha | Camera adapted for films provided with magnetic storage portions |
| KR101268344B1 (en) * | 2006-04-11 | 2013-06-04 | 엘아이지넥스원 주식회사 | Air defence firing control system |
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