JPS61223680A - Direction finder - Google Patents
Direction finderInfo
- Publication number
- JPS61223680A JPS61223680A JP6384085A JP6384085A JPS61223680A JP S61223680 A JPS61223680 A JP S61223680A JP 6384085 A JP6384085 A JP 6384085A JP 6384085 A JP6384085 A JP 6384085A JP S61223680 A JPS61223680 A JP S61223680A
- Authority
- JP
- Japan
- Prior art keywords
- frequency
- signal
- main device
- slave device
- slave
- 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
Landscapes
- Optical Communication System (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の技術分野〕
本発明は、主装置の周辺に配置される従装置から主装置
の方向を検出する方位測定装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an orientation measuring device that detects the direction of a main device from slave devices arranged around the main device.
第4図で示すように主装置(41) (例えば短距離飛
翔体)を設置し、その周辺に複数の従装置(6)(例え
ば携行用飛翔体)を配置して主装置(旬と従装置−の共
同で防空を行うシステムかめる。As shown in Fig. 4, a main device (41) (for example, a short-range flying object) is installed, and a plurality of slave devices (6) (for example, a portable flying object) are placed around it. A system of joint air defense equipment.
このシステムでは、主装置偵υは通常固定され、従装置
(4つは任意に移動可能であり適宜設置場所が選定され
る。そのため、従装置(47Jでは移動する毎にその主
装置(4I)の方向や基準方位の従装置(4S6からみ
た方向が変化するが、従装置(44目身ではそれらの方
向を検出することは行っていず、目標侵入方向を定める
のが非常に困難である〇防空の上では、従装置Qり自身
も基準力位や主装置(41)の方向を検知して目標侵入
方向を正確に定。In this system, the main device (47J) is usually fixed, and the slave devices (4) can be moved arbitrarily, and the installation location is selected as appropriate. The direction of the slave device (the direction seen from the 4S6 changes, but the slave device (44 eyes) does not detect these directions, and it is very difficult to determine the target intrusion direction.〇 On the air defense, the slave device Q itself also detects the reference force position and the direction of the main device (41) to accurately determine the target intrusion direction.
めることかより望ましい。It is more desirable to
本発明は上記した事情を考慮してなされたもので、従装
置側で主装置の方向を検出できる方位測定装置を提供す
ることを目的とする。The present invention has been made in consideration of the above-mentioned circumstances, and an object of the present invention is to provide an azimuth measuring device that can detect the direction of a main device on the side of a slave device.
本発明は、主装置側から周波数変調された信号を放射方
向を変えながら放射し、従装置側では主装置側からの信
号を周阪数弁別して受信信号の到来角度を検出すること
により従装置側で主装置の方向を検知できるようにした
ものである0
〔発明の実施例〕
以下本発明による方位測定装置の一実施例を図面を参照
して説明する。The present invention emits a frequency-modulated signal from the main device side while changing the radiation direction, and the slave device side discriminates the frequency of the signal from the main device side and detects the arrival angle of the received signal. [Embodiment of the Invention] An embodiment of the direction measuring device according to the present invention will be described below with reference to the drawings.
第1図は1本発明によるy5位測定装置の一実施例を説
明する図であり、特に主装置に設けられる送信手段の構
成を概略的に説明する図である○
発振器Uυは、例えば100 KH2の搬送波を出力し
、変調器a2によりこの搬送波に周波数変調がかけられ
る。最大周波数偏移がl、 3 KHzであるとすると
、変調器u3の出力信号周波数は100KHz±l、
8)G(zとなる。この変調器@の出力信号は例えば半
導体レーザ等の光源0に供給される。光源Q3からの光
は変調器@の出力信号で振幅変調された信号であり、こ
の信号は例えば反射鏡114)に照射される。光源(1
3は、反射fi8σ荀の焦点の位置に設けられ、反射鏡
(14)で反射される光が平行光となるようにされる0
光源c31及び反射鏡Iは、回転駆動手段(15により
例えば力位方向に一体的に回転可能に構成される。この
回転駆動手段u5の回転とKA器u4における変調信号
の周期とは同期がとられ、例えば1回転でKAIM号1
周期となるよう設定される。この場合は、例えば回転駆
動手段μ最の回転軸に角度・電圧変換用の圧電素子を設
は回転角度に比例した電圧信号を発生させ、この電圧信
号を変調信号として変調器αりに供給すれば変調信号周
期と反射鏡Iの回転とが対応する。なお、反射鏡Iは、
1〜2秒位で1回転するようにされる0
−刀、従装置には、例えば第2図に示すような受信系が
設けられ受信系を回転させて主装置からの信号を受信す
る0すなわち、主装置の反射鏡側からの光は光学系t2
1)を通して検知器@で検知され電気信号に変換される
0この検知器(社)の出力信号周波数にレベルが比例し
た信号が周波数弁別回路(至)から出力され、角度検出
回路(至)K4人されて主装置の方向が検出される。FIG. 1 is a diagram illustrating an embodiment of the y5 position measuring device according to the present invention, and in particular is a diagram schematically illustrating the configuration of a transmitting means provided in the main device. A carrier wave is output, and frequency modulation is applied to this carrier wave by modulator a2. If the maximum frequency deviation is l, 3 KHz, the output signal frequency of modulator u3 is 100 KHz ± l,
8) G(z). The output signal of this modulator @ is supplied to light source 0 such as a semiconductor laser. The light from light source Q3 is a signal amplitude-modulated by the output signal of modulator @, and this The signal is applied to, for example, a reflecting mirror 114). Light source (1
3 is provided at the focal point of the reflecting mirror (14) so that the light reflected by the reflecting mirror (14) becomes parallel light.
The light source c31 and the reflecting mirror I are configured to be integrally rotatable, for example, in the force potential direction by a rotational drive means (15).The rotation of this rotational drive means u5 and the period of the modulation signal in the KA unit u4 are not synchronized. For example, in one rotation, KAIM No. 1
It is set to be a cycle. In this case, for example, a piezoelectric element for angle/voltage conversion may be installed on the rotational shaft of the rotation drive means μ to generate a voltage signal proportional to the rotation angle, and this voltage signal is supplied to the modulator α as a modulation signal. For example, the modulation signal period and the rotation of the reflecting mirror I correspond. In addition, the reflecting mirror I is
The sword rotates once in about 1 to 2 seconds.The slave device is equipped with a receiving system as shown in Figure 2, and the receiving system is rotated to receive signals from the main device. That is, the light from the reflecting mirror side of the main device is transmitted through the optical system t2.
1) is detected by the detector @ and converted into an electrical signal.0 A signal whose level is proportional to the output signal frequency of this detector (company) is output from the frequency discrimination circuit (to), and the signal is output from the angle detection circuit (to) K4. The direction of the main device is detected.
このように構成された方位測定装置では、周波数変調さ
れた信号が、変調信号周期と対応した回転周期の光学系
によシ送信方向が変化されながら送信される。例えば送
信方向が北方向及び南方向の場合は100 KHz 、
東方向の場合は100 KHz + 1.8 KHz
、西方向の場合は100KHz −1,8KHz 、ま
た、それらの間にある方向ではl OOKHz±1.9
KHzの間にある周波数の信号が送信される。したが
って、従装置の受信光学系を回転させ主装置からの送信
信号を受信したところで回転を止めれば主装置の方向が
わかる。そして、受信信号成波数を筒波数弁別回路(至
)で弁別すれば第3図に示すように基準力向(例えば北
方向)(N)に対する主装置ji01)の角度(θ)が
検出できる。この場合、従装置C33では、基準力向N
は磁石等により予じめおおよそ知ることができる。した
がって、上記地波数と方向の関係では東西を結ぶ線に線
対称な2刀向で同じ周波数の信号が送信されるが、基準
力向Nのおおよその方向が予じめ既知であるから主装置
c31)の方向が見失われることはない。主装置の1)
の角度(θ)が検出されると、θくπであればθ+π。In the direction measuring device configured in this manner, a frequency-modulated signal is transmitted while the transmission direction is changed by an optical system having a rotation period corresponding to the modulation signal period. For example, if the transmission direction is north or south, 100 KHz,
100 KHz + 1.8 KHz in the east direction
, 100KHz -1,8KHz in the west direction, and lOOKHz±1.9 in the direction between them.
A signal with a frequency between KHz is transmitted. Therefore, the direction of the main device can be determined by rotating the receiving optical system of the slave device and stopping the rotation after receiving the transmission signal from the main device. Then, if the received signal component wave number is discriminated by the cylinder wave number discrimination circuit (to), the angle (θ) of the main device ji01) with respect to the reference force direction (for example, north direction) (N) can be detected as shown in FIG. In this case, in the slave device C33, the reference force direction N
can be approximately known in advance using a magnet or the like. Therefore, in the above relationship between ground wave number and direction, signals of the same frequency are transmitted in two directions symmetrical to the line connecting east and west, but since the approximate direction of the reference force direction N is known in advance, the main The direction of c31) will not be lost. Main device 1)
When the angle (θ) of is detected, if θ minus π, then θ+π.
θ〉πであればθ−πにより基準力向Nまでの角度が求
められる0すなわち、従装置(3)の光学系の向きから
この角度差を有する方向が基準方向■となる0
なお、送信信号源として光源(13がオリ用される場合
は、主装置と従装置は児通しのきく所または従装置が移
動しても受信系を少し動かすことによって容易に見通し
のきく所に設置される必要がある。If θ>π, the angle to the reference force direction N is determined by θ-π.0 In other words, the direction that has this angular difference from the direction of the optical system of the slave device (3) is the reference direction ■0. When a light source (13) is used as a signal source, the main device and slave device can be installed in a place where children can walk around, or in a place where they can be easily seen even if the slave device moves by slightly moving the receiving system. There is a need.
また、主装置等で侍られた目標情報は、第1図に示す情
報出力回路(IQから光源(1階に加えられ方位情報を
有するFM信号に重畳(tlJえば振幅f調(AM))
して通常の通信方式と同様に送信することができる0こ
の場合、従装置では、第2図に示す情報検出回路(ハ)
で目標情報を抽出して目標に対処することができる。In addition, the target information served by the main device etc. is superimposed from the information output circuit (IQ) shown in Figure 1 to the light source (1st floor) and an FM signal having azimuth information (tlJ is an amplitude f modulation (AM)).
In this case, the slave device uses the information detection circuit (c) shown in Figure 2.
You can extract target information and act on the target.
以上説明したように本発明による方位測定装置によれば
、従装置側で主装置の方向を検出することができ主装置
と従装置を組み合せたシステム効率を上げることができ
る。As explained above, according to the direction measuring device according to the present invention, the direction of the main device can be detected on the slave device side, and the efficiency of the system combining the main device and the slave device can be increased.
第1図及び第2図は、本発明による方位測定装置の一実
施例を説明する図、第3図及び第4図は、主装置と従装
置の位置関係を説明する図である。
αυ・・・発掘器、(13・・・変v14器、0[有]
・・・光源、u4・・・反射鏡、u5・・・回転枢動手
段、(21)・・・光学系、−4・・・検知器、@・・
・周波数弁別回路、(財)・・角鼓検出回路。
代理人 弁理士 則 近 憲 佑
(ほか1名)
第10
第2圀
第3日
第4riU
/l
一1″
Y〜
″C
〜・々
・q1 and 2 are diagrams for explaining an embodiment of the direction measuring device according to the present invention, and FIGS. 3 and 4 are diagrams for explaining the positional relationship between the main device and the slave device. αυ... Excavation vessel, (13... Variable v14 vessel, 0 [Yes]
...Light source, u4...Reflector, u5...Rotation and pivoting means, (21)...Optical system, -4...Detector, @...
・Frequency discrimination circuit, (foundation)... Square drum detection circuit. Agent Patent Attorney Noriyuki Chika (and 1 other person) 10th 2nd District 3rd Day 4riU /l 11″Y~ ″C~······q
Claims (1)
号を放射する放射手段と、前記主装置の周辺に配置され
る少なくともひとつの従装置に設けられ前記放射手段で
放射された信号を受信しレベルが受信周波数に対応した
信号を出力する周波数弁別回路とこの周波数弁別回路の
出力信号が導かれ前記放射された信号の到来角度を検出
する検出回路とを具備する方位測定装置。radiating means provided in the main device and radiating signals of different frequencies corresponding to the radiation direction; and at least one slave device disposed around the main device receiving the signals radiated by the radiating means. An azimuth measuring device comprising: a frequency discriminator circuit that outputs a signal whose level corresponds to a reception frequency; and a detection circuit that receives the output signal of the frequency discriminator circuit and detects the arrival angle of the radiated signal.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6384085A JPS61223680A (en) | 1985-03-29 | 1985-03-29 | Direction finder |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6384085A JPS61223680A (en) | 1985-03-29 | 1985-03-29 | Direction finder |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS61223680A true JPS61223680A (en) | 1986-10-04 |
Family
ID=13240935
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP6384085A Pending JPS61223680A (en) | 1985-03-29 | 1985-03-29 | Direction finder |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS61223680A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7286902B2 (en) | 2003-07-23 | 2007-10-23 | Lg Electronics Inc. | Method and apparatus for detecting position of mobile robot |
-
1985
- 1985-03-29 JP JP6384085A patent/JPS61223680A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7286902B2 (en) | 2003-07-23 | 2007-10-23 | Lg Electronics Inc. | Method and apparatus for detecting position of mobile robot |
DE102004003630B4 (en) * | 2003-07-23 | 2012-01-26 | Lg Electronics Inc. | Method and device for detecting the position of a mobile robot |
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