Guidance device and guidance method based on magnetic detection

Abstract

According to the guidance device and method based on magnetic detection, magnetic field information on the two sides of a projectile body is synchronously collected and magnetic field gradients on the two sides of the projectile body are obtained by utilizing the rule that a target magnetic gradient is larger than a surrounding environment magnetic gradient, and then the magnetic field gradient difference between the two sides of the projectile body is obtained, so that guidance information is generated, and the motion direction of the projectile body is controlled. For an ultra-high-speed torpedo or other missiles under limited conditions, the traditional guidance technology is limited, the device and the method solve the problem by introducing magnetic guidance, and the hit probability and the striking effect of weapons such as the torpedo and the missiles are improved.

Description

Technical Field

[0001] The present invention relates to the field of navigation and guidance technology, and in particular to a magnetic field precision measurement and guidance technology method. Background Art

[0002] Torpedoes are important weapons for underwater warfare, and they usually use acoustic methods to locate targets and guide strikes. Acoustic guidance is an active detection method that achieves target location and guidance by emitting sound waves and detecting echoes. This method requires the torpedo to be in direct contact with water. However, for some torpedoes, this method has limitations. For example, for ultra-high-speed torpedoes using supercavitation technology, a layer of air is attached to the surface. Since they cannot be in direct contact with water, acoustic methods cannot be used, which seriously affects the hit probability of such torpedoes.

[0003] Surface ships and underwater submarines are the main targets of torpedoes. They are usually built of huge steel materials and are constantly magnetized in the geomagnetic field environment, becoming magnetic anomalies. The propagation of magnetic anomaly signals is not affected by seawater and air, and extended medium detection can be achieved. Therefore, ultra-high-speed torpedo guidance can be achieved through magnetic field detection. Summary of the invention

[0004] The present invention provides a guidance method based on magnetic detection, which uses the rule that the target magnetic gradient is greater than the surrounding magnetic gradient, and uses the magnetic gradient to guide the mine or missile to approach the target to achieve guidance. It can realize the detection and guidance of the expansion medium and solve the problem of ultra-high-speed torpedo guidance.

[0005] The guidance device based on magnetic detection provided by the present invention mainly comprises:

[0006] The magnetic sensor group is used to synchronously collect the magnetic field information on both sides of the projectile and send the magnetic field information to the navigation calculation module;

[0007] The navigation calculation module is used to calculate the magnetic field gradient information on both sides of the missile body, and then calculate the magnetic field gradient difference on both sides, so as to generate guidance information and send it to the missile control system;

[0008] The onboard control system is used to generate specific control instructions and guide the missile body to move towards the target direction.

[0009] Furthermore, the magnetic sensor group is designed in pairs, and each pair of sensors is symmetrically arranged on both sides of the projectile, so as to detect the magnetic field on the symmetrical sides of the projectile.

[0010] Furthermore, the magnetic sensor group is provided in one or two pairs, which are symmetrically arranged on the left and right sides and / or the upper and lower sides of the projectile, and are used for yaw and / or pitch control of the projectile.

[0011] Furthermore, the navigation calculation module generates guidance information using the following method:

[0012] Obtain the magnetic field signal of the magnetic sensor group and convert the current magnetic field strength B1 on both sides of the projectile k 、B2 k , respectively, with the magnetic field B1 at the previous moment k-1 、B2 k-1 Make a difference to get the magnitude of the magnetic field gradient on both sides of the projectile;

[0013] Then, the difference in magnetic field gradients on both sides and the relative magnetic field gradient difference are calculated to generate guidance parameters for guidance control of the projectile.

[0014] A guidance method based on magnetic detection for the above device comprises the following steps:

[0015] S1, the magnetic sensor group synchronously collects the magnetic field information on both sides of the projectile and sends the magnetic field information to the navigation calculation module;

[0016] S2, the navigation calculation module calculates the magnetic field gradient information on both sides of the missile body, and then calculates the magnetic field gradient difference on both sides, thereby generating guidance information and sending it to the missile control system;

[0017] S3, the onboard control system generates specific control instructions to guide the missile body to move towards the target direction.

[0018] Furthermore, the step S2 specifically includes:

[0019] The magnetic field signals on both sides of the projectile are collected and preprocessed to obtain the processed magnetic fields B1k and B2k, which are then differentiated from the magnetic fields B1k-1 and B2k-1 at the previous moment to obtain the magnetic field gradients on both sides of the projectile:

[0020] ΔB1 k =|B1 k -B1 k-1 |

[0021] ΔB2 k =|B2 k -B2 k-1 |

[0022] Further obtain the magnetic field gradient difference and relative magnetic field gradient difference on both sides:

[0023] ΔB k =ΔB1 k -ΔB2 k

[0024] C k =ΔB k / (ΔB1 k +ΔB2 k )

[0025] Then generate the guide parameters:

[0026] D K =K*C k *ΔB k , where K is the guidance parameter;

[0027] The guiding parameter D K Sent to the onboard control system.

[0028] Furthermore, the preprocessing in step S2 includes: noise reduction, compensation, correction, and suppression of platform and background interference.

[0029] Compared with the prior art, the present invention has the following beneficial effects: (1) compared with the traditional acoustic guidance method, it can realize the detection and guidance of the expansion medium, and solve the problem of ultra-high-speed torpedo guidance; (2) it is a passive detection method with better concealment performance and defense penetration capability; (3) in the traditional magnetic detection and positioning, the magnetic detection system needs to perform over-the-top detection on the target to be measured, and even multiple over-the-top detections are required to achieve target positioning. The present invention is used for torpedo or missile guidance, and the application scenarios are significantly different. Over-the-top detection is not allowed, and the target can only be directly guided and hit once; the existing magnetic positioning method is based on the inversion of multi-point magnetic field data and the target magnetic field model to locate the specific position of the target. The present invention is based on the law that the target magnetic gradient is greater than the surrounding magnetic gradient, and uses the magnetic gradient to guide the torpedo or missile to approach the target to achieve guidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0031] Figure 1 A schematic diagram of an exemplary magnetic guidance system according to the present invention;

[0032] Among them: 1-magnetic sensor 1, 2-magnetic sensor 2, 3-navigation computer, 4-onboard control system, 5-missile (torpedo or missile), 6-target;

[0033] Figure 2 Detailed description of the invention is given in conjunction with a flow chart of an exemplary magnetic guidance method according to the present invention. DETAILED DESCRIPTION

[0034] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0035] The invention provides a guidance method and device using magnetic detection.

[0036] According to an exemplary embodiment of the present invention, the magnetic guidance system is as follows Figure 1 As shown, it includes: 1-magnetic sensor 1, 2-magnetic sensor 2, 3-navigation computer, 4-onboard control system, 5-missile (torpedo or missile), 6-target.

[0037] (1) Magnetic sensor group

[0038] Preferably, the magnetic sensor group is designed in pairs, with a pair of sensors arranged in each direction (left and right and / or up and down) for pitch and / or yaw control.

[0039] In this embodiment, a pair of sensors for yaw control is provided. The two sensors are symmetrically arranged on the left and right sides of the projectile (referring to a torpedo or a missile), respectively detecting the magnetic fields on the left and right sides of the projectile, including:

[0040] Magnetic sensor 1, a magnetic field measuring device, is arranged on the left side of the projectile body and measures high-precision magnetic field information in situ;

[0041] Magnetic sensor 2, a magnetic field measuring device, is arranged on the right side of the projectile to measure high-precision magnetic field information in situ.

[0042] Pitch control can be implemented as a reference. If pitch control is required, two sensors can be arranged on the upper and lower sides.

[0043] (2) The navigation computer 3 is a magnetic field signal processing and navigation device that collects and processes the magnetic field of the magnetic sensor 1 / 2 to generate a guidance signal.

[0044] In this embodiment, the navigation computer collects the magnetic field signal of the magnetic sensor group and processes the magnetic field signal, calculates the magnetic field gradient on both sides of the projectile, and the difference between the gradients on both sides, determines whether the target is on the left or right side of the movement direction (the upper or lower side is given during pitch control), and outputs guidance information to the control system on the missile to complete the guidance control.

[0045] (3) The onboard control system 4 is a control execution system that controls the movement direction of the torpedo or missile according to the navigation parameters of the navigation computer.

[0046] (4) Missile (torpedo or missile) 5 is a torpedo or missile system.

[0047] (5) Target 6 is the target of attack.

[0048] The specific guidance process is as follows Figure 2 As shown:

[0049] Magnetic sensor 1 and magnetic sensor 2 synchronously collect magnetic field information on the left and right sides of the projectile, and send the magnetic field information to navigation computer 3;

[0050] The navigation computer collects two magnetic field signals, performs noise reduction, compensation, correction and other processing on the magnetic field signals, suppresses platform and background interference, and obtains the processed magnetic field B1 k 、B2 k , respectively, with the magnetic field B1 at the previous moment k-1 、B2 k-1 Do the difference to get the magnitude of the magnetic field gradient on both sides of the projectile:

[0051] ΔB1 k =|B1 k -B1 k-1 |

[0052] ΔB2 k =|B2 k -B2 k-1 |

[0053] Further obtain the magnetic field gradient difference and relative magnetic field gradient difference on both sides:

[0054] ΔB k =ΔB1 k -ΔB2 k

[0055] C k =ΔB k / (ΔB1 k +ΔB2 k )

[0056] Then generate the guide parameters:

[0057] D K =K*C k *ΔB k , where K is the guidance parameter.

[0058] D K The sign represents the direction of the target. If D K If D is greater than 0, the target is on the left side of the projectile. K If it is less than 0, the target is on the right side of the missile body, and the navigation computer 3 will guide the parameter D K Sent to the missile control system 4,

[0059] The onboard control system generates specific control instructions to guide the missile body 5 to move toward the target 6.

[0060] The above technical scheme is only an exemplary embodiment of the present invention. For those skilled in the art, it is easy to make various types of improvements or modifications based on the application methods and principles disclosed in the present invention, and it is not limited to the method described in the above specific embodiment of the present invention. Therefore, the method described above is only preferred and does not have a restrictive meaning.

Claims

1. A guidance device based on magnetic detection, characterized in that: include: The magnetic sensor group is used to synchronously collect the magnetic field information on both sides of the projectile and send the magnetic field information to the navigation calculation module; The navigation calculation module is used to calculate the magnetic field gradient information on both sides of the missile body, and then calculate the magnetic field gradient difference on both sides, so as to generate guidance information and send it to the missile control system; The onboard control system is used to generate specific control instructions and guide the missile body to move towards the target direction.

2. The device according to claim 1, characterized in that The magnetic sensor group is designed in pairs, and each pair of sensors is symmetrically arranged on both sides of the projectile body to detect the magnetic field on the symmetrical sides of the projectile body.

3. The device according to claim 2, characterized in that The magnetic sensor group is provided with one or two pairs, which are symmetrically arranged on the left and right sides and / or the upper and lower sides of the projectile, and are used for yaw and / or pitch control of the projectile.

4. The device according to any one of claims 1 to 3, characterized in that: The navigation calculation module generates guidance information using the following method: Obtain the magnetic field signal of the magnetic sensor group and convert the current magnetic field strength B1 on both sides of the projectile k 、B2 k , respectively, with the magnetic field B1 at the previous moment k-1 、B2 k-1 Make a difference to get the magnitude of the magnetic field gradient on both sides of the projectile; Then, the difference in magnetic field gradients on both sides and the relative magnetic field gradient difference are calculated to generate guidance parameters for guidance control of the projectile.

5. A guidance method based on magnetic detection using the device according to any one of claims 1 to 4, comprising the following steps: S1, the magnetic sensor group synchronously collects the magnetic field information on both sides of the projectile and sends the magnetic field information to the navigation calculation module; S2, the navigation calculation module calculates the magnetic field gradient information on both sides of the missile body, and then calculates the magnetic field gradient difference on both sides, thereby generating guidance information and sending it to the missile control system; S3, the onboard control system generates specific control instructions to guide the missile body to move towards the target direction.

6. The method according to claim 5, characterized in that The step S2 specifically includes: The magnetic field signals on both sides of the projectile are collected and preprocessed to obtain the processed magnetic fields B1k and B2k, which are then differentiated from the magnetic fields B1k-1 and B2k-1 at the previous moment to obtain the magnetic field gradients on both sides of the projectile: ΔB1 k =|B1 k -B1 k-1 | <h2 style=";text-align:left;direction:ltr">ΔB2<h2 style=";text-align:left;direction:ltr"> k <h2 style=";text-align:left;direction:ltr"> =|B2<h2 style=";text-align:left;direction:ltr"> k <h2 style=";text-align:left;direction:ltr"> -B2<h2 style=";text-align:left;direction:ltr"> k-1 <h2 style=";text-align:left;direction:ltr"> | Further obtain the magnetic field gradient difference and relative magnetic field gradient difference on both sides: ΔB k =ΔB1 k -ΔB2 k C k =ΔB k / (ΔB1 k +ΔB2 k ) Then generate the guide parameters: D K =K*C k *ΔB k , where K is the guidance parameter; The guiding parameter D K Sent to the onboard control system.

7. The method according to claim 6, characterized in that The preprocessing in step S2 includes: noise reduction, compensation, correction, and suppression of platform and background interference.

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