Missiles, especially guided missiles, equipped with a radar sensor unit

Abstract

Missile (1), in particular guided missile (1), comprising a missile body and a radar sensor unit (2) for detecting a target object (11), wherein the radar sensor unit (2) is configured to emit radar signals of at least one predetermined radar wavelength (l) and comprises at least two or more longitudinally strip-shaped radar antennas (7, 14, 15) which are mounted or integrated on a circumferential surface (16) of the missile body, such that the longitudinal direction of the radar antennas (7, 14, 15) is aligned in the direction of the missile's longitudinal axis (l), wherein the radar antennas (7, 14, 15) are configured for operation as a transmitting antenna (14) for transmitting radar signals and / or for operation as a receiving antenna (15) for receiving reflected radar signals, and wherein the radar antennas (7, 14, 15) are arranged substantially parallel to each other, characterized in thatthat the radar sensor unit (2) comprises at least one radar antenna group with two or more strip-shaped radar antennas (7, 14, 15), wherein the at least one radar antenna group , a) comprises at least one first radar antenna (7) configured for operation as a pure transmitting antenna (14) and at least one second radar antenna (7) associated with the first radar antenna (7), which is configured for operation as a pure receiving antenna (15) for receiving radar signals, and b) comprises at least two immediately adjacent strip-shaped radar antennas (7) configured at least for operation as pure receiving antennas (15), wherein a distance (D2, AD) between the immediately adjacent strip-shaped radar antennas (7) configured for operation as pure receiving antennas (15) perpendicular to their longitudinal direction is less than the radar wavelength (l), wherein the at least two immediately adjacent strip-shaped radar antennas (7) - the second radar antenna (7) and another radar antenna (7) set up at least for operation as a purely receiving antenna (15) - wherein the pure transmitting antenna (14) and the at least two pure receiving antennas (15) of the radar antenna group are arranged without offset.

Description

[0001] The underlying invention relates to a missile, in particular a guided missile, with a radar sensor unit designed for target detection.

[0002] In the prior art, for example, weapon guidance systems are known that use radar sensors to guide a weapon to a target. Such a weapon guidance system is known, for instance, from DE 695 15 790 T2, according to which a launch platform is equipped with a radar system with a synthetic aperture. Using the radar system of the launch platform, the area surrounding a target can be mapped, and the target's location can be determined from this mapping. Based on the target's location determined by the radar system of the launch platform, the weapon is then flown to the target.

[0003] German patent DE 31 45 374 A1 discloses a method for engaging ground targets using a missile. The missile has a mid-phase and a terminal phase seeker. In the mid-phase, a radar seeker coordinates multiple targets, and a target selection determines an approach course for the terminal phase. The radar seeker operates on the principle of synthetic aperture, scanning areas perpendicular to the flight direction in the mid-phase and resolving individual points within the scanned area based on the Doppler history.

[0004] WO 02 / 088770 A2 discloses a method for detecting and identifying objects on missiles. In this method, the missile's surroundings are scanned using a radar device operating on the synthetic aperture principle, the radar device comprising a plurality of antenna elements arranged along the curved contour of the missile's nose.

[0005] US 2001 / 0013565 A1 shows a missile equipped with a sensor unit in its forward section, protruding laterally through a dome, for receiving optical signals. The forward section may also be equipped with conformal, strip-shaped antennas.

[0006] German patent DE 196 45 496 A1 deals with an antenna system for a satellite-guided missile. The missile is equipped with a number of antennas along a circumferential strip. The antennas are connected to a navigation receiver on the missile via a multiplexer that switches depending on the missile's roll attitude, so that only information from the antennas oriented towards a navigation satellite in the upper hemisphere is processed by the navigation receiver.

[0007] From EP 1 382 085 B1, a missile is known which is equipped with a conformal antenna array in the region of the missile's nose. The antenna array has a multitude of receiving elements. The field of view of the antenna array is formed by a rectangular cone centered on the missile's main axis. However, the antenna elements can also be used to transmit signals generated by a signal generator in a ground-based or airborne radar system.

[0008] Although known methods enable target control of a missile, it is still desirable to improve the accuracy of target navigation and guidance and the accuracy of target detection, while simultaneously providing a simple implementation option for a radar sensor unit.

[0009] Based on this, it is an object of the invention to provide a missile, in particular a guided missile, that enables improved target guidance and / or target detection, especially with a comparatively simple implementation of radar sensor units for target acquisition. Furthermore, it can be considered an object of the invention to provide a missile that offers advantages with regard to the functionalization of the missile body.

[0010] This problem is solved by the features of claim 1. Embodiments of the invention result from the dependent claims as well as from the following description of embodiments and exemplary embodiments.

[0011] According to the design specifications, a missile, in particular a guided missile, is provided.

[0012] The missile comprises a missile body and a radar sensor unit for detecting a target object, i.e., a radar sensor unit that is set up to detect a target object.

[0013] The term missile body is intended to describe, in particular, one or more main components of the missile, irrespective of any specific functionalities. Such main components include, for example, but are not limited to, the outer skin and outer wall(s) or parts thereof, as well as missile segments relating to a missile propulsion unit, a missile nose or nose, and a missile guidance unit.

[0014] The radar sensor unit comprises several longitudinally strip-shaped radar antennas; that is, the radar sensor unit includes several radar antennas that are strip-shaped in their longitudinal direction. The term "strip-shaped" should be understood here in its general sense of long, narrow, and ribbon-like. A corresponding strip-shaped radar antenna thus has a length that is significantly greater, in particular substantially greater, than its width.

[0015] Such a strip-shaped radar antenna is specifically designed and configured so that, in combination with appropriate control and evaluation electronics, it can be used to detect and, if necessary, track a target object within the radar sensor unit's field of view. Furthermore, the radar sensor unit is configured to adjust the orientation of the field of view for the purpose of target acquisition.

[0016] The target object can be, for example, a target object to which the missile is to be directed or navigated, whereby the target object can be, for example, a stationary or moving land, air or water-based object.

[0017] The strip-shaped radar antennas (hereinafter also referred to simply as radar antennas) are mounted on or integrated into a circumferential surface of the missile body. The radar antennas can be mounted on or attached to an outer skin or shell of the missile or missile body. It is also possible that the radar antennas are integrated, at least partially or partially, into the outer skin or shell of the missile, for example, in a section of the outer skin or in an outer wall of the missile. The outer skin section can, for example, form a single segment of the missile's outer skin. In certain configurations, the radar antenna can be designed as a substrate-integrated radar antenna, whereby, for example, an outer skin section of the missile can serve as the substrate for integration.

[0018] The strip-shaped radar antennas are mounted or integrated in such a way that their longitudinal direction is aligned with, and in particular runs along, the missile's longitudinal axis. All radar antennas can be aligned accordingly, meaning their longitudinal direction is aligned with, or corresponding to, the missile's longitudinal axis.

[0019] The phrase "aligned in the direction of the missile's longitudinal axis" is understood to mean that the direction vector defined by the longitudinal direction of a strip-shaped radar antenna has a decomposition with a component parallel to the missile's longitudinal axis.

[0020] In certain embodiments, the strip-shaped radar antennas can be mounted or integrated such that the longitudinal direction of a strip-shaped radar antenna and the missile's longitudinal axis define a plane. In a special case, the longitudinal direction of a strip-shaped radar antenna can be substantially parallel, and in particular, substantially true parallel, to the missile's longitudinal axis. In another arrangement of the strip-shaped radar antenna, an intermediate angle between the longitudinal axis defined by the longitudinal direction of a strip-shaped radar antenna and the missile's longitudinal axis can be acute.

[0021] In the case of a radar antenna being arranged essentially parallel to the missile's longitudinal axis, the radar antenna can, for example, be mounted on or integrated into a cylindrical segment of the missile body relative to the missile's longitudinal axis. In the case of an arrangement as described above with an acute intermediate angle, a radar antenna can, for example, be mounted on or integrated into a conical or cone-shaped segment of the missile body relative to the missile's longitudinal axis.

[0022] The formulations used herein concerning the properties of at least one radar antenna should be understood in particular to mean that the respective properties apply or may apply to all radar antennas of the radar sensor unit, unless otherwise stated.

[0023] According to certain embodiments, a radar antenna can be designed and arranged in its longitudinal direction essentially parallel to the missile's longitudinal axis. Such a design is possible, for example, if the segment or surface of the missile body on or in which the radar antenna is mounted or integrated runs parallel to the missile's longitudinal axis, thus allowing for parallel mounting or integration of the radar antenna. The term "essentially parallel" is intended to mean, in particular, that the alignment is parallel apart from standard manufacturing tolerances.

[0024] However, in some designs it is also possible to mount or integrate a radar antenna, for example, on or in a segment of the missile body that is conical with respect to the missile's longitudinal axis.

[0025] According to certain embodiments, a radar antenna is planar in the longitudinal direction, i.e., essentially uncurved with respect to the longitudinal direction. For example, the radar antenna can be formed on or in a surface of the missile body that is planar in the longitudinal direction. In other words, a radar antenna can be mounted or integrated on or in a surface that is essentially planar in the longitudinal direction, at least along the longitudinal extent of the radar antenna, i.e., essentially uncurved. Such a surface can, for example, be formed by a cylindrical segment of the missile body and, in particular, extend in the direction of the missile's longitudinal axis, for example, parallel to the missile's longitudinal axis.

[0026] The multiple radar antennas are designed or configured as transmitting and / or receiving antennas. This means that in one configuration, one or more of the multiple radar antennas are configured either solely for operation as a transmitting antenna or solely for operation as a receiving antenna. However, it is also possible that one or more of the multiple radar antennas are configured for alternating operation as both transmitting and receiving antennas.

[0027] The proposed radar sensor unit makes it possible to equip a missile, for example a guided missile, with radar sensors usable for target acquisition, whereby the associated radar sensors can be arranged in an otherwise non-functionalized area of ​​the missile body's circumference. In this respect, the missile nose can be functionalized essentially freely. For example, it is possible to dispense with the target acquisition sensors integrated into the missile nose of known guided missiles and to functionalize the missile nose in a different way, e.g., with a warhead.However, it is also possible to provide additional target acquisition sensors alongside the proposed radar sensor unit at the missile tip, and to use corresponding sensor data to supplement target acquisition and tracking as well as target navigation, thereby improving the accuracy and reliability of target acquisition, tracking and navigation.

[0028] Furthermore, the proposed radar sensor unit offers the possibility of retrofitting radar sensors to missiles without having to forgo common functionalities, such as an infrared seeker or a combat unit, in the missile tip.

[0029] Furthermore, a longitudinally strip-shaped radar antenna of the radar sensor unit can be mounted or integrated in or on the circumferential surface in a particularly advantageous manner with regard to the aerodynamics of the missile, thereby achieving advantages in terms of aerodynamics compared to other mounting locations on the missile body.

[0030] The radar antennas are configured for operation as a transmitting antenna for sending radar signals and / or as a receiving antenna for receiving reflected radar signals. Accordingly, a radar antenna can be configured as a pure transmitting antenna, a pure receiving antenna, or a dual-mode antenna, i.e., an antenna configured for selective use as both a transmitting and receiving antenna.

[0031] The radar sensor unit has several, but at least two, strip-shaped radar antennas mounted or integrated on the circumferential surface of the missile body. The two or more radar antennas can be of essentially identical construction. In particular, the radar antennas can have essentially the same length when viewed longitudinally.

[0032] Two or more radar antennas can be arranged in configurations that are essentially parallel to each other. The longitudinal axes of the respective radar antennas can run parallel to each other, and these longitudinal axes can, but do not necessarily have to, run parallel to the longitudinal axis of the missile, for example, if the circumferential surface is conical.

[0033] In some embodiments, two or more radar antennas, preferably all radar antennas, can have essentially the same length when viewed longitudinally. The radar antennas can be mounted or integrated parallel to the missile axis, for example, without offset. Alternatively, the radar antennas can be arranged offset from one another, for example, to reduce interference from a transmit signal from a radar antenna operating as a transmitting antenna to a radar antenna operating as a receiving antenna. Corresponding radar antennas with the same orientation and longitudinally offset or unoffset arrangement can be grouped together to form radar antenna arrays.

[0034] Such radar antenna groups, as well as individual radar antennas, can be mounted or integrated onto a carrier element. This carrier element can, for example, be a component that, after assembly, forms part of the missile's outer skin. When such carrier elements are used, the individual radar antennas can be substrate-integrated, in particular such that, after the carrier element is mounted on the missile body, the radar antennas are located on the outer surface of the missile body. Connection interfaces can be provided on the inner surface of the carrier element, facing away from the outer surface, for connecting the radar antennas to one or more associated electronic units for signal and control purposes, and / or for evaluating received signals.

[0035] The radar antennas can be mounted or integrated in such a way that, viewed along the missile's longitudinal axis, they extend over the same segment of the missile body. For example, the radar antennas can be mounted or integrated on the circumference of a cylindrical outer wall.

[0036] The corresponding two or more radar antennas, in particular the radar antennas of a radar antenna group, can, as already indicated above, be configured for operation as transmitting and / or receiving antennas.

[0037] According to the invention, the radar sensor unit comprises at least one radar antenna group with two or more radar antennas. At least one of the at least one radar antenna group comprises a first radar antenna configured for operation as a transmitting antenna, and at least one, preferably several, in particular at least two or three, second radar antennas associated with the first radar antenna, which is / are configured for operation as a receiving antenna for receiving reflected radar signals. The reflected radar signals can be based on radar signals from the first radar antenna of the radar antenna group or from another radar antenna of a different radar antenna group configured as a transmitting antenna. Corresponding radar antenna groups can be arranged distributed around the circumference of the missile body, in particular uniformly distributed.

[0038] A functional arrangement and grouping of radar antennas can be particularly advantageous with regard to mounting or integration in or on the missile body, for example, if such radar antenna groups are mounted or integrated on a common support element, e.g., a support plate as part of the outer shell of the missile body.

[0039] Depending on the configuration, the radar antennas can be arranged circumferentially with respect to the missile's longitudinal axis. For example, it is possible to arrange several groups of radar antennas distributed around the circumference of the missile body, e.g., according to a uniform circumferential distribution and / or according to a predetermined symmetry. With a suitable distribution or symmetry of the arrangement in the circumferential direction, a radar sensor unit can be implemented which, viewed as a whole, has a field of view with a comparatively large opening angle in the circumferential direction with respect to the missile's longitudinal axis, also known as the azimuth direction.

[0040] According to the invention, the radar sensor unit is configured to emit radar signals or radar radiation of at least one predetermined radar wavelength and comprises at least two immediately adjacent strip-shaped radar antennas configured for operation as receiving antennas. The distance between the immediately adjacent strip-shaped radar antennas configured for operation as receiving antennas, transversely, and in particular perpendicularly, to their longitudinal direction, is at most one or a multiple of the radar wavelength. For example, the distance can be on the order of the radar wavelength. In particular, the distance can be in the range of one to two times the radar wavelength. With a corresponding arrangement of the receiving antennas, a particularly advantageous resolution in the circumferential direction, i.e., in the azimuth direction, can be achieved.

[0041] According to certain embodiments, at least one of the radar antennas is configured and operated in such a way that it has an antenna pattern that can be directed over the polar angle, i.e., a main antenna lobe that can be directed over the polar angle. For example, a corresponding radar antenna can be designed as a strip-shaped leakage wave antenna whose antenna pattern can be directed over the polar angle, e.g., by adjusting the frequency.

[0042] According to certain embodiments, the radar antenna can be configured in such a way that the opening angle, i.e. the half-power width of the antenna main lobe, in particular the transmitting antenna main lobe or the beamwidth at -3 dB, over the polar angle in the defined range is 30 degrees or less than 30 degrees.

[0043] According to certain embodiments, the radar antenna can be configured in such a way that the opening angle, i.e. the half-power width, over the azimuth angle is 30 degrees or greater than 30 degrees in the defined range.

[0044] Radar sensor units configured in this way result in a comparatively sharp detection range over the polar angle and a comparatively wide detection range over the azimuth angle, with which a comparatively accurate determination of the polar and azimuth angles for a target object can be made, which will be discussed in more detail below.

[0045] In connection with the preceding embodiments relating to polar angles (Theta) and azimuth angles (Phi), these angles are understood with respect to a spherical coordinate system whose polar axis runs in the direction of the longitudinal axis of the respective strip-shaped radar antenna(s), preferably parallel to the missile's longitudinal axis, with the positive polar axis pointing towards the missile's nose. If the polar axis is parallel to the missile's longitudinal axis, the polar axis vector of the positive polar axis is parallel to the missile's longitudinal axis and runs parallel to the direction pointing towards the missile's nose with respect to the missile's longitudinal axis.

[0046] According to various embodiments, at least one radar antenna can be configured as a radar antenna that can be aligned via the polar angle using either the frequency or the phase. In particular, such a radar antenna is designed such that the alignment of the transmitting antenna's main lobe, especially the transmitting antenna's main lobe, with respect to the polar angle can be adjusted via the operating frequency or the phase.

[0047] A suitable radar antenna, configured and operated as a transmitting antenna, can, for example, be designed as a leakage wave antenna, which allows the polar angle of the antenna's main lobe to be adjusted, for example, via the frequency.

[0048] Furthermore, it is possible that a corresponding radar antenna is set up and designed as a phased array antenna, which allows the polar angle of the antenna's main lobe to be adjusted via the phase.

[0049] Leakage wave antennas and phased array antennas are well known in the prior art and are therefore not described in detail.

[0050] Radar antennas with antenna main lobes that can be adjusted or aligned over the polar angle allow, on the one hand, the alignment of the radar sensor unit's field of view towards a target object with a known position, and on the other hand, the scanning of the environment in the polar angle direction to determine the polar angle of a target object to be detected or of a target object that has already been detected.

[0051] According to embodiments, the missile further comprises an electronic unit, in particular a control and evaluation electronics unit, for the radar sensor unit, wherein the electronic unit, in particular the control and evaluation electronics, can be connected or is connected to the radar sensor unit in terms of data technology and in particular signals technology for its operation, in particular for controlling the operation of the radar sensor unit.

[0052] The electronic unit comprises one or more electronic components which are configured in such a way that, during operation of the electronic unit, they operate at least one radar antenna as a transmitting antenna and / or receiving antenna.

[0053] The electronic unit and / or the at least one radar antenna may be configured in such a way that at least one of the procedure or operating steps described below is carried out during its operation.

[0054] The electronic components may, for example, include one or more circuit components, one or more hard-coded computer or control units with instructions stored thereon, and / or one or more volatile-coded computer or control units with one or more associated non-volatile memories with instructions stored thereon, wherein the operation of the circuit components and / or the execution of the instructions by the respective computer or control unit(s) results in the execution of the respective process or operational steps.

[0055] According to various embodiments, a process or operational step can consist of connecting a transmit channel of transmitting electronics, in particular a transmitting electronics assembly of the control electronics, to at least one radar antenna that can be operated as a transmitting antenna. Furthermore, a receive channel of receiving electronics, in particular a receiving electronics assembly, can be connected to at least one radar antenna that can be operated as a receiving antenna. The radar antenna(s) that can be operated as transmitting antenna(s) and the radar antenna(s) that can be operated as receiving antenna(s) can preferably be connected and operated with transmitting and receiving channels such that the radar sensor unit can be operated with a main antenna lobe, in particular having a main antenna lobe on the transmitting side that can be aligned or directed in the direction of the target object, i.e., in the direction of the target object to be detected.

[0056] Target object data, such as position, velocity, and acceleration, can be used to adjust the main antenna beam. If this target object data is not yet known to the missile (i.e., the missile control system), for example, because the missile's own target acquisition sensors have not yet been able to detect the target, the corresponding target object data can be obtained from an external unit, such as an external, non-missile sensor unit, or otherwise based on prior knowledge about the target. The externally acquired target object data can be transmitted to and received by the missile, for example, via wireless data transmission during flight or via wired or wireless data transmission before launch.Data on the target object can also be obtained, for example, if no target object data is available from external units, by scanning the area with the radar sensor unit using a suitable search strategy. As part of the search strategy, the orientation of the antenna's main lobe can be changed according to a predefined scheme, in particular an algorithm.

[0057] According to one embodiment, a process or operational step can include: controlling at least one of the radar antennas to align the respective antenna main lobe, particularly in the polar direction, with a detected or to-be-detected target. For polar alignment, existing target data, especially prior knowledge of the target, can be used. If the missile radar sensor already possesses target data from its own target acquisition, this data can be used to align the antenna main lobe(s). As already described, the polar direction of the antenna main lobe(s) can be adjusted by varying the frequency in the case of a frequency-steerable radar antenna. In the case of phase-steerable radar antennas, the polar direction can be adjusted by appropriate phase-controlled operation of the radar antennas.

[0058] As already indicated, according to certain configurations, the orientation of the main antenna lobe(s) can be varied for, e.g., a target object yet to be detected, for example, a target object not yet detectable or detected in the field of view of the radar sensor unit, based on target object data that is provided to the missile, in particular to corresponding control units, by external data sources, or that is or was generated by the radar sensor unit by scanning the space.

[0059] By varying the orientation of the antenna main lobes, the environment, and in particular the spatial segment that can be scanned by the radar sensor unit, can be gradually scanned for a target object. For scanning, a predefined search strategy can be used, for example, to vary the orientation of the main lobe(s) of the radar antennas. Target object data, which includes or specifies, for example, the approximate position of a target object, can be used to scan the spatial segment.

[0060] Depending on the configuration, the missile can be set up, for example by appropriately equipping the missile control system and the radar sensor unit, in such a way that space segments in the entire forward half-space with respect to the missile tip can be scanned by appropriately controlling the radar antennas and / or controlling the missile.

[0061] Depending on the specific configuration, a process or operational step may include varying the orientation of the main antenna lobe(s) of one or more radar antennas in successive detection cycles. Furthermore, in this context, a process or operational step may include determining position data for the target object, in particular polar angle data of the target object, with respect to a missile-specific (spherical) coordinate system, by comparing the amplitudes of the reflected radar signals detected in successive detection cycles.

[0062] According to certain embodiments, a process or operational step can include the simultaneous detection of a reflected radar signal, i.e., a reflection signal, of a radar signal emitted by a radar antenna operating as a transmitting antenna. The reflection signal is detected simultaneously by means of adjacent radar antennas, particularly those operating as receiving antennas in the circumferential direction (i.e., perpendicular to the longitudinal direction of the radar antennas). Based on the simultaneously detected reflection signal, a further process and operational step can include determining position data for the target object. This position data preferably consists of the azimuth angle data of the target object with respect to a missile-specific (spherical) coordinate system. The position data for the target object, in particular the azimuth angle data, are preferably determined from the simultaneously detected reflection signal by phase and / or amplitude comparison.In particular, the reflection signals received simultaneously by different receiving antennas spaced circumferentially apart contain information about reflecting objects with respect to the azimuth direction. This information can be used to determine the azimuth direction of a target object.

[0063] Depending on the configuration, a process or operational step may be set up to determine the distance, for example via time-of-flight effects of the radar signals, and / or the approach speed of the target object, e.g. via Doppler effects, based on received radar signals.

[0064] Therefore, by appropriately operating the control and evaluation electronics, target object data, including, for example, position and / or velocity data of the target object, can be determined with respect to a missile-specific (spherical) coordinate system. When determining the target object data, as described, the orientation of the antenna's main lobe over the polar angle, and the information contained in the received reflected radar signals regarding the azimuth angle, distance, and velocity of the target object, can be evaluated and used for target acquisition and / or target navigation.

[0065] The target object data determined by the radar sensor unit can be combined based on target object data from an external sensor unit and / or based on target object data from a missile-integrated target acquisition unit, which may be integrated, for example, in the missile nose as an optical or infrared-based target acquisition unit, thereby improving target acquisition and / or target navigation in particular.

[0066] Depending on the embodiment, the electronic unit can include at least one transmitting channel, and the electronic unit can include one or more, in particular at least two, receiving channels.

[0067] The electronic unit can be configured to connect at least one transmit channel to a radar antenna capable of transmitting and equipped with a main lobe steerable towards the target, and to connect at least one receive channel to a radar antenna capable of receiving for detecting radar signals reflected from the target. Thus, the target data described above, such as range, polar angle, azimuth angle, velocity, and / or acceleration, can be determined based on the radar sensor unit proposed herein, which is mounted on or integrated into a circumferential surface of the missile body.If required, the determination of target object data can be based solely on the data determined by the radar sensor unit, thereby enabling a missile tip that would otherwise be equipped with optical or infrared-based target acquisition sensor units to be used in a different way.

[0068] According to various embodiments, the circumferential surface on which the at least one strip-shaped radar antenna is mounted or integrated can be substantially planar in the longitudinal direction of the radar antenna, and preferably also in the direction of the missile's longitudinal axis, and in particular not curved with respect to the longitudinal axis of the radar antenna and / or the missile's longitudinal axis. The circumferential surface can, in particular, be cylindrical. For example, the radar antenna(s) of the radar sensor unit can be mounted or integrated circumferentially on the outer surface of a cylindrical turn concentric with the missile's longitudinal axis.

[0069] The circumferential surface can be located in a region of a steering section of the missile body where a guidance and control unit of the missile is arranged, for example, in a segment of the missile body between the missile nose and the propulsion end of the missile. In this context, it should be mentioned that the missile may include a propulsion unit on the side facing away from the missile nose, which may, for example, have a drive unit and several steering and control flaps for directional control.

[0070] The steering unit can include one or more computer units for flight, motion, propulsion control and / or flight and destination navigation.

[0071] Furthermore, the electronic unit for operating the radar sensor unit can be located in the steering system, and the electronic unit and / or electronic components of the electronic unit can be implemented, at least partially, in conjunction with one or more computer units of the steering system. As already mentioned, the computer unit(s) and / or electronic unit can be configured and set up to generate control signals for emitting radar signals, i.e., radar radiation. Furthermore, the computer unit(s) and / or electronic unit can be configured and set up to receive reflected radar signals, i.e., radar radiation, and to process the corresponding received data. In particular, the computer unit(s) and / or electronic unit can be configured and set up to evaluate the received radar radiation to determine whether a target object is located within the field of view of the radar sensor unit.

[0072] Based on the evaluation of the received radar radiation, the computer unit(s) and / or electronic unit can determine, in particular calculate, further control signals for flight control and / or for setting operating parameters of the radar sensor unit.

[0073] The operating parameters of the radar sensor unit may include, in particular, operating parameters with which the modulation of the radar sensor unit, the alignment of the antenna main lobe(s) and / or the opening angle of the antenna main lobe(s) can be set.

[0074] Furthermore, the operating parameters may include those operating parameters that relate to the detection of radar radiation, for example whether radar radiation is detected by only one or simultaneously by several radar antennas.

[0075] Furthermore, the operating parameters may include those operating parameters that determine whether and when a radar antenna is operated as a transmitting antenna or receiving antenna in a detection cycle.

[0076] Therefore, the radar sensor unit can be configured to operate in such a way that it can detect one or more target objects based on radar radiation, i.e., radar signals.

[0077] The operating parameters for the operation of the radar sensor unit can be determined based on target object data, such as the position, speed, orientation and acceleration of the target object, based on missile data, such as the position, speed, orientation and acceleration of the missile, and / or based on the data of the radar sensor unit from previous detection cycles.

[0078] At least during an initial flight phase, for example after the missile has been launched, when no missile-specific data on the target object is yet available, data on the target object, such as position, speed and acceleration, can be received from an external unit by the missile, evaluated and used for flight control and for setting the operating parameters of the radar sensor unit.

[0079] The external unit could, for example, be a launching or control unit of a weapon system assigned to the missile.

[0080] After a target object has been detected by the missile's own radar sensor unit and, if necessary, by using an additional missile-integrated target acquisition sensor, the respective target object data can be used to control the operation of the radar sensor unit, to control the missile's flight, and / or to navigate the missile. However, it is also possible to consider external target object data and / or missile data during such flight phases.

[0081] In particular, based on the target object data determined by the radar sensor unit, it is possible to adaptively adjust the movement of the missile along a flight path and the operating data of the radar sensor unit depending on the target object data.

[0082] The adaptive adjustment of the radar sensor unit's operating parameters can be performed, for example, with regard to the detectability of the target object's distance, polar angle, and azimuth angle, as well as with regard to an optimal signal-to-noise ratio and other relevant detection characteristics of the radar sensor unit, such as detection performance, target contrast, etc. The computer unit(s) and / or electronic unit can be configured and programmed accordingly, or be programmable.

[0083] The term "adaptively adjust" is intended to mean, in particular, that the operating parameters are adjusted or changed depending on the situation, whereby this situation-related adjustment is based at least on information about the target object, i.e., at least on the target object data. Specifically, the term "adaptive" should be understood to mean that the adjustment of the flight path and the operating data occurs in response to changes in the target object data. Through adaptive adjustment of the operating parameters, it is possible, in particular, to adjust the detection characteristics of the radar sensor unit, especially the transmit and receive characteristics, so that the target object is reliably detected, and its position and coordinates, including, for example, polar angle, azimuth angle, and distance, and possibly other target object data, can be reliably determined.

[0084] By arranging the radar antennas in the area of ​​the steering unit, or more generally in a missile segment in which the electronic components for missile control are housed, comparatively short signal and control lines can be achieved, which, for example, reduces susceptibility to interference.

[0085] The radar sensor unit can comprise one or more radar sensor assemblies and / or be designed as a single assembly configured for mounting on a missile body. For example, such an assembly can be configured as a missile segment with longitudinal connection ends for attachment and mounting to other missile segments, for example, between the missile nose and the propulsion end of the missile, and in particular between the missile nose and a warhead of the missile extending towards the propulsion end. In this configuration, the missile is preferably a guided missile for engaging target objects.

[0086] The radar antennas of the radar sensor unit are preferably mounted or integrated in such a way that they are essentially flush with the circumferential surface of the missile, in particular in such a way that essentially the same aerodynamic properties can be achieved compared to an otherwise identical missile without the radar antennas, and in particular that essentially no aerodynamic disadvantages arise from the mounting or integration of the radar antennas.

[0087] In the proposed mounting or integration of the radar sensors on or in a circumferential surface, the central axis or main axis of the field of view, in particular of the antenna's main lobe, of the radar sensor unit can be oriented obliquely to the missile's longitudinal axis, with a polar angle other than zero. Preferably, the central axis is oriented towards the forward half-space with respect to the missile's nose and forms an intermediate angle of less than 90 degrees with the direction pointing from the missile's propulsion end to the missile's nose, thus forming an acute intermediate angle.

[0088] The term "field of view" used herein is to be understood generally and is not limited to radar sensors, but also applies accordingly to infrared sensors, optical sensors, or other sensors that are suitable for detecting a target object when integrated into the missile.

[0089] It should be noted at this point that functional and / or structural features of embodiments of the missile and radar sensor unit according to the invention, as well as any process-related features for their operation and / or control, can also be claimed in a different category (product, method, use).

[0090] The term "in particular" used in the description of embodiments and configurations according to the invention and in the claims should not be understood restrictively, but rather to mean that the features marked by "in particular" relate to specific embodiments or configurations, unless otherwise specified.

[0091] Exemplary embodiments and configurations of the invention are described below with reference to the figures. They show: Fig. 1 for example a guided missile with a radar sensor unit; Fig. 2 a side profile view of a section of the guided missile Fig. 1; Fig. 3. One for the side profile view of the Fig. 2 Vertical front profile view of the guided missile Fig. 1; Fig. 4 an enlarged section of the guided missile in the area of ​​the radar sensor unit; Fig. 5 a radar antenna group of the Fig. 4 in detail; Fig. 6. An antenna diagram of a single radar antenna in a first operating mode; Fig. 7 an antenna diagram of a single radar antenna in a second operating mode; Fig. 8 a schematic cross-sectional representation of the missile in the area of ​​the radar sensor unit; Fig. 9 a circuit arrangement of the radar sensor unit; Fig. 10. For example, the operation of the radar sensor unit to determine the polar angle of a target object; and Fig. 11. For example, the operation of the radar sensor unit to determine the azimuth angle of a target object.

[0092] Fig. Figure 1 shows an embodiment of a guided missile 1 designed according to the invention with a radar sensor unit 2.

[0093] The guided missile 1, hereinafter also referred to simply as missile 1, has a propulsion unit 3, which defines a propulsion-side end AE of the missile 1. At the end furthest from the propulsion unit in the direction of the missile's longitudinal axis L, i.e., at the missile tip, the missile 1 has a missile head 4, which defines a head-side end KE. At the propulsion-side end AE, the missile 1 has several fins, not otherwise specified, for guidance and / or flight stabilization.

[0094] On a segment adjoining the missile head 4, the missile 1 has a guidance element 5 in the direction of the propulsion-side end AE, to which a warhead 6 is attached, for example, towards the propulsion 3. The configuration in the direction of the missile's longitudinal axis L may differ from the configuration shown.

[0095] The steering unit 5 comprises one or more (not explicitly shown) computer and control units for steering the missile 1. Furthermore, electronic components of the radar sensor unit are included in the area of ​​the steering unit 5.

[0096] The radar sensor unit 2 comprises several radar antennas 7 which are mounted and integrated on a circumferential surface that is planar in the direction of the missile's longitudinal axis L, but cylindrically curved in the circumferential direction.

[0097] For aerodynamic reasons, the radar sensors 7 are essentially flush with the circumferential surface.

[0098] The arrangement in the area of ​​the steering element 5 has the particular advantage that short signal paths between the radar antennas 7 and associated electronic components of the radar sensor unit 2 can be achieved.

[0099] The radar antennas 7 are strip-shaped, with their longitudinal direction aligned with the missile's longitudinal axis L. In this example, the longitudinal direction of the radar antennas 7 is parallel to the missile's longitudinal axis L.

[0100] During operation of the radar sensor unit 2, the strip-shaped radar antennas 7, aligned parallel to the missile's longitudinal axis L, can generate antenna main lobes 8 with appropriately set operating parameters. These main lobes focus relatively narrowly over the polar angle 9 (Theta), particularly over a defined polar angle range of the antenna main lobe 8. The defined polar angle range can, for example, be less than 30 degrees.

[0101] The polar angle 9 is defined with respect to a missile-specific, right-handed spherical coordinate system, the origin of which is located, for example, at the midpoint of the longitudinal direction of a radar antenna 7, and which has a polar axis P parallel to the longitudinal direction of the radar antenna 7. In the present example, the polar axis P is also parallel to the missile's longitudinal axis L. The positive polar axis direction is defined by the direction in which the radar antenna 7 runs from the propulsion end AE to the nose end. The polar angle 9 is measured in the polar angle direction between the polar axis P and the central axis M of the main antenna lobe 8 of the radar antenna 7. Circumferentially to the polar axis P, the azimuth angle 10 (Phi) is defined as the rotation angle with respect to a plane E parallel to and containing the polar axis P.

[0102] With a correspondingly aligned main antenna lobe 8, a space segment located at an angle to the longitudinal axis L of the missile can therefore be illuminated for the detection and acquisition of a target object 11.

[0103] Fig. Figure 2 shows a side profile view of the guided missile 1 in the region of the nose end KE with respect to the polar principal plane of the spherical coordinate system, which runs through the polar axis P and the origin of the spherical coordinate system, to schematically illustrate the orientation of the antenna main lobe 8. As can be seen from the Fig. As can be seen in Figure 2, the main antenna lobe 8 is rotated relative to the polar axis P by a polar angle 9 and focuses in the main polar plane over a defined polar angle range, i.e., over a defined polar opening angle 12. The polar opening angle 12 of the main antenna lobe 8 can, for example, depending on the operating parameters of the radar sensor unit 2, be less than 30 degrees in the respective defined range of the main antenna lobe 8.

[0104] Depending on the operating parameters, the polar angle 9 of the antenna main lobe 8 can be aligned towards the forward hemisphere H, whereby the polar angle 9 with respect to the forward hemisphere H can be set, for example, between near zero degrees and 90 degrees by appropriate operation of the radar antennas 7. In other words, with appropriate operation of the radar antennas 7, the antenna main lobe 8 can be swiveled within the aforementioned angular range in the forward hemisphere H. Swiveling the antenna main lobe 8 into the rear hemisphere can also be achieved with appropriate operation of the radar antennas 7, whereby the illumination of the forward hemisphere H is of primary importance for the detection and tracking of a target object 11 and for the target navigation of the guided missile 1 to the target object 11.

[0105] Fig. 3 shows a side profile view of the Fig. 2. Vertical front profile view of the guided missile 1 with respect to the azimuth principal plane of the spherical coordinate system, which runs perpendicularly through the polar axis P and the origin. As shown in the schematic representation of the Fig. As can be seen in Figure 3, the antenna main lobe 8 sweeps out an azimuth opening angle 13 in the azimuth main plane in the defined area of ​​the antenna main lobe 8, which, depending on the operating parameters of the radar sensor unit 2, may be greater than 30 degrees, for example.

[0106] From the perspective of Fig. 1 to Fig. 3. In particular, it follows that the main antenna lobe 8 is aligned laterally to the longitudinal axis L of the missile and can illuminate a corresponding lateral area.

[0107] Fig. Figure 4 shows an enlarged section of the guided missile 1 in the area of ​​the radar sensor unit 2. Specifically, it shows Fig. 4 the area of ​​the steering element 5 with a radar antenna group attached to its circumference. The radar antenna group comprises a transmitting antenna 14 and two receiving antennas 15 assigned to the transmitting antenna 14.

[0108] The in Fig. The radar sensor unit 2 shown comprises several such radar antenna groups, wherein in Fig. 4 For the sake of clarity, only one radar antenna group is shown. In this respect, several radar antennas 7 and radar antenna groups can be present on the circumferential surface of the steering element 5, e.g., in a uniformly distributed arrangement in the circumferential direction. For example, a total of four such radar antenna groups can be distributed around the circumference of the steering element 5, at approximately equal intervals in the circumferential direction.

[0109] The transmitting antenna 14 and receiving antennas 15 have an elongated shape when viewed along the missile's longitudinal axis L; that is, they are each strip-shaped. A strip-shaped radar antenna 7, for example, can have a length-to-width ratio in the range of 30:1 to 40:1.

[0110] With respect to the missile's longitudinal axis L, the transmitting antenna 14 and the receiving antennas 15 are essentially the same length. Their starting and ending points are located in planes perpendicular to the missile's longitudinal axis L. In particular, in the example shown, the transmitting antenna 14 and the receiving antennas 15 are essentially offset along the missile's longitudinal axis L. As discussed above, selected radar antennas 7 can be offset along the missile's longitudinal axis L, for example, to prevent radar signal interference.

[0111] The strip-shaped transmitting antenna 14 and the strip-shaped receiving antennas 15 are designed as leakage wave antennas in the present example.

[0112] However, other antenna types are also possible, such as leakage wave antennas, which allow the antenna's main lobe 8 to be aligned in the polar direction. Phased array antennas, which allow the antenna's main lobe to be aligned by adjusting the phases of the array's antenna elements, serve as an example in this context.

[0113] In leakage wave antennas, the orientation of the antenna's main lobe 8 can be adjusted, for example, by changing the frequency. Leakage wave antennas can be implemented, for example, as substrate-integrated leakage wave antennas.

[0114] The number of radar antennas in a radar antenna group can differ from the example shown. In particular, a radar antenna group can include more than one transmitting antenna. Furthermore, it is possible for a radar antenna group to have only one receiving antenna or more than two receiving antennas.

[0115] In some embodiments, a radar antenna 7 can be configured for selective operation as a transmitting antenna 14 and a receiving antenna 15. For example, a corresponding radar antenna 7 can be configured so that it can be switched alternately as a transmitting antenna 14 and a receiving antenna 15. Furthermore, the selective operation of the radar antenna 7 as a transmitting antenna 14 and a receiving antenna 15 can be implemented using a high-frequency transmit-receive switch, such as a circulator or a coupler.

[0116] In such configurations with optional operation of a radar antenna 7, the number of radar antennas can be reduced, and the radar sensor unit can be switched between transmit and receive modes by appropriate operation.

[0117] Furthermore, it is possible that different radar antenna groups are arranged circumferentially, for example, comprising only one—or several—reciprocally operable radar antennas, or comprising one or more radar antennas explicitly configured as transmitting antennas and one or more radar antennas configured as receiving antennas. Moreover, it is possible that the relative arrangement of the radar antennas depends on the Fig. The arrangement shown in Figure 4 differs. Furthermore, several radar sensor units 2 may be present on the missile body, for example at different positions in the direction of the missile's longitudinal axis L.

[0118] The transmitting antenna 14 has a first distance D1 from the receiving antennas 15 in the circumferential direction, and the receiving antennas 15 of the radar antenna group have a second mutual distance D2 measured in the circumferential direction. The second distance D2 can, for example, be less than, equal to, or greater than a radar wavelength at which the radar sensor unit 2 is operated. Preferably, the second distance D2 is on the order of the radar wavelength. Depending on the configuration of the radar antenna group, the second distance D2 can be less than, equal to, or greater than the first distance D1. For example, the second distance D2 can be chosen to be greater than the first distance D1 if such a spacing is necessary to reduce interference between the radar antennas 7. In this respect, the first and second distances D1 and D2 shown in the figures are to be understood merely as non-limiting embodiments.

[0119] Fig. Figure 5 shows the radar antenna group of the Fig. 4 in detail. The transmitting antenna 14 and the two receiving antennas 15 are mounted on or integrated into a carrier plate 16. The carrier plate 16 can be designed such that it can be mounted externally on an outer wall of the guided missile, such that the transmitting antenna 14 and receiving antennas 15 are oriented outwards. The carrier plate 16 can further be designed so that, after mounting on the missile body, it forms part of the outer covering, i.e., part of the outer skin, of the guided missile 1.

[0120] On the side of the carrier plate 16 facing away from the transmitting antenna 14 and the receiving antennas 15, respective connection interfaces for the transmitting antenna 14 and the receiving antennas 15 can be provided, with which the transmitting and receiving antennas 14, 15 can be connected to an electronic unit designed for operating the radar sensor unit 2 for signal and control purposes. The carrier plate 16 can, in particular, function as a cover for the electronic unit 17 arranged below it in the missile body ( Fig. 3). The in Fig. 3 The electronic unit 17, schematically arranged inside the missile body, is connected to the radar antennas 7 via high-frequency lines 23.

[0121] Fig. Figure 6 shows an antenna diagram of a single radar antenna 7 in a first operating mode, and Fig. Figure 7 shows an antenna diagram of a single radar antenna 7 in a second operating mode. The radar antennas 7 are designed as strip-shaped leakage wave antennas.

[0122] In the first operating mode of the Fig. 6 the radar antenna 7 is operated with a first frequency and has an antenna main lobe 8 with a first polar angle 9.1.

[0123] In the second operating mode of the Fig. 7 the radar antenna 7 is operated with a second frequency and has an antenna main lobe 8 with a second polar angle 9.2.

[0124] The first polar angle, 9.1, is, as can be seen from a summary of the Fig. 6 and Fig. As can be seen in Figure 7, the second polar angle is smaller than the second polar angle 9.2. Therefore, when using appropriate radar antennas 7 as transmitting antennas 14, it is possible to swivel the main antenna lobe 8. Based on a swivel of the main antenna lobe 8, the polar angle of a target object 11 located in the field of view of the radar sensor unit 2 can be determined from the respective detected reflected radar signals.

[0125] In particular, the polar angle of a target object 11 located in the field of view can be determined by comparing the amplitudes of the reflected radar signals. For example, the polar angle of a transmitted radar signal whose reflected radar signals show an amplitude maximum in the amplitude comparison can be used as the polar angle of the target object 11.

[0126] Fig. Figure 8 shows a schematic cross-sectional view of the guided missile 1 in the area of ​​the guidance unit 5, the transmitting antennas 14 and the receiving antennas 15.

[0127] In the example shown, the Fig. 8 are located on the circumference of the steering part 5, a total of four of the in Fig. 4 and Fig. The radar antenna groups shown are arranged in 5, wherein the radar antenna groups are distributed in such a way that they can be transformed into one another by a rotation by an angle of 90 degrees about the missile's longitudinal axis L.

[0128] With the arrangement of the transmitting and receiving antennas 14, 15 according to the Fig. In combination, 8 can achieve a field of view that allows for almost complete room coverage across the azimuth angle. Fig. 8 The drawing plane lies in or parallel to the azimuth principal plane of the spherical coordinate system described above.

[0129] The in Fig. The number of radar antenna groups shown in Figure 8 can vary depending on the configuration and be adapted to the respective dimensions of the missile's cross-section. For example, with a larger diameter, it may be necessary to arrange more than four radar antenna groups to achieve essentially complete spatial coverage over the azimuth angle. The same applies if coverage is possible with fewer radar antenna groups. If fewer radar antenna groups are present than are required for complete coverage of the full azimuth angle, the missing coverage can be compensated for, for example, by changing the roll angle of the missile 1 during flight, thereby rotating the field of view. A rotation of the field of view based on an adjustment of the roll angle can, for example, be based on prior knowledge of the approximate position of the target 11.

[0130] With the arrangement of the transmitting and receiving antennas 14, 15 according to Fig. 8 In particular, it is possible to determine the polar angle and the azimuth angle of a target object 11.

[0131] The polar angle of a target object 11 can be determined, or at least narrowed down, as described above, for example, by sweeping the main lobe(s) 8 of one or more radar antenna groups over the polar angle in successive operating cycles and comparing the reflected radar signals of successive operating cycles with respect to their amplitude. The polar angle of the target object 11 can then be assumed to be the polar angle at which the amplitude of a reflected radar signal is greatest, in particular exhibiting or passing through a maximum. For example, reference is made to the methods described in S.A. Hovanessian, 1982, Radar Detection & Tracking Systems, ISBN 0-89006-018-5, which can be applied accordingly.

[0132] The azimuth angle of a target object 11 can be determined, for example, by simultaneously detecting radar signals emitted by a transmitting antenna 14 and reflected by the target object 11 from neighboring receiving antennas during an operating cycle. The azimuth angle of the target object 11 can then be determined by comparing the phase and amplitude of the simultaneously detected reflected radar signals. For example, reference is made to the methods described in David K. Barton, 1985, Radar System Analysis, ISBN 0-89006-043-6, which can be applied accordingly.

[0133] Suitable search strategies for operating the radar sensor unit 2 can be implemented to determine the polar angle and azimuth angle of the target object 11.

[0134] The distance of target object 11 can be determined, for example, by time-of-flight measurements.

[0135] In the Fig. In the example shown in Figure 8, the azimuth angle of the schematically depicted target object 11 can be determined by the transmitting antenna 14 located at the top left emitting a radar signal and the reflected radar signals being received, and in particular detected simultaneously, by the receiving antennas 15 assigned to the radar antenna group, which is shown in Fig. 8 is schematically indicated by dashed arrows. The azimuth angle of the target object 11 can then be determined from a comparison of the amplitude and / or phase of the simultaneously detected, reflected radar signals.

[0136] However, to determine the azimuth angle of the target object 11, receiving antennas 15 of another, neighboring radar antenna group can also be used.

[0137] In the example of the target object 11, is it located Fig. 8, for example, in the area above the transmitting antenna 14 located at the top right, the receiving antennas 15 and corresponding received signals of the in Fig. 8 radar antenna groups located adjacent to each other in a counter-clockwise direction.

[0138] Fig. Figure 9 shows an example of a circuit arrangement, in particular an electronic unit 17, for operating the radar sensors 7 for detecting a target object 11.

[0139] The electronics unit 17 comprises one transmitting channel 18 and two receiving channels 19, wherein in Fig. 9 the transmitting channel 18 and the two receiving channels 19 are schematically represented by dashed rectangles.

[0140] In the embodiment shown, the transmitting channel 18 can be switched via a switching network 20 to one or more of the four transmitting antennas 14, which are connected to the electronic unit 17 via high frequency lines 23.

[0141] The electronic unit 17 further comprises two receiving channels 19, each receiving channel being switchable via additional switching networks 21 to one or more of four receiving antennas 15. The receiving antennas 15 are connected to the electronic unit 17 via high-frequency lines 23.

[0142] To detect and locate a target object 11, the transmitting antennas 14 and receiving antennas 15 can be activated in the respective operating cycles as described above. Fig. 9 The evaluation unit 24 of the electronic unit 17, schematically represented by a dashed rectangle, can evaluate the radar signals detected by the receiving antennas 15 and use them accordingly to determine target object data, for example to determine distance, polar angle, azimuth angle, speed and / or acceleration of the target object 11.

[0143] If, for example, it is not possible to detect a target object 11 in a given operating cycle, one or more other transmitting and / or receiving antennas can be activated in a subsequent operating cycle, and received radar signals can be evaluated to determine whether a target object 11 is within the respective field of view. Similarly, transmitting and receiving antennas can be activated to determine the polar angle, azimuth angle, and other target object data.

[0144] Fig. Figure 10 shows, by way of example and schematically, the operation of the radar sensor unit 2 for determining the polar angle of a target object 11. Specifically, the radar sensor unit 2 is operated in successive operating cycles with antenna main lobes 8 oriented differently over the polar angle.

[0145] In a first operating cycle corresponding to a first antenna main lobe 8.1, a reflected radar signal with a first amplitude A1 is measured, where the first amplitude A1 is shown in the representation of the Fig. 10 corresponds to the intersection of the direct connecting line 22 between radar sensor unit 2, i.e. the receiving antenna(s) 15, and the target object 11.

[0146] In a second operating cycle corresponding to a second antenna main lobe 8.2, a reflected radar signal with a second amplitude A2 is measured, whereby the second amplitude A2 is shown in the representation of the Fig. 10 corresponds to the intersection of the direct connecting line 22 between radar sensor unit 2, i.e. the receiving antenna(s) 15, and the target object 11.

[0147] As from Fig. As can be seen in the schematic representation 10, the first amplitude A1 is smaller than the second amplitude A2, from which it can be concluded that the polar angle of the second antenna main lobe 8.2 in the second operating cycle is closer to the actual polar angle of the target object 11 than the polar angle of the first antenna main lobe 8.1 of the first operating cycle.

[0148] Based on several successive operating cycles, each with different orientations of the antenna's main lobe 8 over the polar angle, the polar angle PX for which the amplitude of the reflected radar signal is greatest, e.g., exhibiting or passing through a maximum, can then be assigned to the target object 11. Fig. Only two operating cycles are shown in Figure 10 for illustrative purposes.

[0149] Fig. Figure 11 shows, by way of example and schematically, the operation of the radar sensor unit 2 for determining the azimuth angle AX of a target object 11.

[0150] In this process, radar signals emitted and reflected from the target 11 during an operating cycle are simultaneously detected by adjacent receiving antennas 15. Due to the azimuth-direction distance AD ​​between the receiving antennas 15, at least a phase difference arises in the received reflected radar signals.

[0151] From geometric considerations, for example, for a measured phase difference PD at a given radar wavelength l and based on the distance AD ​​of the two receiving antennas 15, the azimuth angle AX of the target object can be derived from the following equation: AX=invsin(I*PD / (2Pi*AD)), where invsin denotes the inverse sine function, and Pi is the mathematical constant.

[0152] To Fig. 1, Fig. 8, Fig. 9 and Fig.It should also be mentioned that these are not to scale, at least insofar as the target object 11 is significantly farther away from the radar sensor unit 2 and the missile 1 under real conditions than depicted.

[0153] When determining the target data, the electronic unit 17, in particular the evaluation unit 24, and the radar sensor unit 2 can be operated in the manner described above. In particular, the operating parameters of the radar sensor unit 2 can be set, at least partially, based on prior knowledge of the target 11, for example, its position. For instance, the operating parameters for determining the polar angle PX and / or the azimuth angle AX of the target 11 can be set in an initial phase of target acquisition based on position data acquired by an external unit or by a target acquisition unit different from the radar sensor unit 2, which may be optical or infrared based, for example, and provided to the electronic unit 17 and evaluation unit 24.Once the target object 11 is within the field of view of the radar sensor unit 2 and has been detected, the operating parameters can be adjusted based on the received signals of the radar sensor unit 2, for example to set a suitable polar angle of the antenna main lobe 8 and / or to activate suitable radar sensor groups to detect the target object 11 in the azimuthal direction, such that the target object 11 can be tracked based on the radar sensor unit 2 and remains within the field of view of the radar sensor unit 2.

[0154] According to embodiments, the radar sensor unit comprises two parallel, strip-shaped individual radar antennas 7, which are arranged along the missile's longitudinal axis L on the surface of the cylindrical housing of the guidance unit 5 of the missile 1 or, more generally, along the missile's longitudinal axis L on a relatively narrow and long planar surface. The second distance D2 between adjacent receiving antennas 15 and the first distance D1 between the transmitting antennas 14 and the receiving antennas can lie in the ranges already described above.

[0155] In embodiments, the radar sensor unit 2 can comprise at least one transmitting antenna 14 and two receiving antennas 15, but a larger number of transmitting antennas 14 and receiving antennas 15 can also be present, e.g. a transmitting antenna 14 and a series of three or more adjacent receiving antennas 15 within a radar antenna group.

[0156] When using circulators and suitable distribution networks, in particular transmit-receive switches, the transmit and receive antennas 14, 15 can be identical in certain configurations.

[0157] In various configurations, the strip-shaped radar antennas 7 have an antenna pattern that can be directed over the polar angle, the 3dB antenna main lobe width of which measures only a comparatively few degrees over the polar angle, but extends over the azimuth angle from the middle double-digit to the lower triple-digit degree range.

[0158] The polar angle range over which the antenna pattern of a strip-shaped radar antenna 7 can be directed, as well as the 3dB antenna main lobe widths of the antenna pattern for the different orientations, determine the spatial segment which can be illuminated by the radar antenna 7 and in which target objects 11 can be detected.

[0159] In general, an antenna array consisting of a transmitting antenna 14 with two or more adjacent receiving antennas 15 cannot unambiguously cover the entire area. To cover larger areas, additional similar antenna arrays, e.g., radar antenna groups, can be used, but pointing in different azimuth directions. Thus, with a sufficiently large number of antennas, the area can be covered for essentially all azimuth angles. Gaps in the coverage may only remain due to the limitations of the antenna patterns' directivity over the polar angle.

[0160] In various configurations, the electronic unit 17 comprises one or more transmitting channels 18 for generating radar signals, which are emitted or transmitted via connected transmitting antennas 14, and two or more receiving channels 19 for detecting radar signals reflected from a target object 11, which are then received via the connected receiving antennas 15.

[0161] In various embodiments, the electronic unit 17 comprises at least one transmitting channel 18 and two receiving channels 19, which are or can be connected to a corresponding number of transmitting and receiving antennas 14, 15. For more extensive antenna arrangements, one transmitting channel 18 can be distributed or switchable across all transmitting antennas 14, or alternatively, one transmitting channel 18 can be provided for each transmitting antenna 14.

[0162] In certain embodiments, each receiving antenna 15 of a series of adjacent receiving antennas 15 has its own receiving channel 19, so that in particular phase and amplitude differences in simultaneously received radar signals can be evaluated to determine the azimuth angle AX of the target object 11.

[0163] If, according to embodiments, the antenna arrangement consists of several similar series or groups of adjacent receiving antennas 15, which are oriented, for example, in different azimuth directions, the number of receiving channels 19 can be reduced in embodiments to the number of receiving antennas 15 of a series or group of adjacent receiving antennas 15, whereby the receiving channels 19 are switched to the series or group of adjacent receiving antennas 15 with which reception is currently to be carried out.

[0164] If, in certain configurations, it is necessary to switch between a few transmit and receive channels 18, 19 and many transmit and receive antennas 14, 15, it may not be possible to transmit via all transmit antennas 15 or receive via all receive antennas 14 simultaneously. Accordingly, the target object 11 can only be detected in the spatial segment covered by the currently active transmit and receive antennas 14, 15.

[0165] For successful detection and localization of target objects 11 in a spatial segment by the radar sensor unit 2, it is necessary to align the antenna main lobes 8 of the transmitting and receiving antennas 14, 15, which cover this spatial segment, with the polar angle towards the target object 11, for example by means of any prior knowledge about the approximate position of the target object 11 or as part of a search strategy according to which a spatial segment is gradually searched or scanned for possible target objects 11.

[0166] If the target object 11 is located within the antenna's main lobe 8, it can be detected in the various connected receiving channels 19. Its position can be measured in spherical coordinates according to the following configurations: (a) The polar angle can already be obtained relatively accurately by ensuring that the target object 11 is located within the relatively narrow main lobe 8 of the transmitting and receiving antennas 14, 15 above the polar angle. For more precise measurement, the orientation of the main lobe 8 is varied between successive detections, for example, slightly or iteratively. By comparing the amplitudes of the different detections, a relatively accurate localization of the target object 11 can be achieved. (b) The azimuth angle can only be very roughly estimated from the mere knowledge that the target object 11 is located within the antenna's main lobe 8, which is comparatively wide above the azimuth angle. Its precise measurement and determination can be carried out by comparing the phases and amplitudes of simultaneous detections from neighboring receiving antennas 15. (c) The distance and approach speed of the target object 11 can be obtained, for example, from the received radar signal by selecting a suitable modulation form of the transmitted radar signal.

[0167] The above explanations demonstrate in particular that the proposed radar sensor unit enables a comparatively precise determination of target data on a missile. Furthermore, it is possible to repurpose the missile nose, which is usually equipped with search optics or other target acquisition units. Reference sign 1 guided missile 2 radar sensor units 3 Drive 4 missile head 5 Steering part 6 warheads 7 radar antenna 8 antenna main lobe 8.1 First main antenna lobe 8.2 Second main antenna lobe 9 Polar angles 9.1 First polar angle 9.2 second polar angle 10 Azimuth angles 11 Target object 12 polar opening angles 13 Azimuth opening angles 14 transmitting antenna 15 Receiving antenna 16 Carrier plate 17 Electronic unit 18 transmission channels 19 Receiving channel 20 Switching network 21 further switching network 22 connecting line 23 High-frequency line 24 evaluation units AE drive-side end A1 first amplitude A2 second amplitude D1 first distance D2 second distance Level E H front half-space KE head end L missile longitudinal axis I Radar wavelength M center axis P Polar axis PX Polar angle target object PD phase difference AX Azimuth angle Target object AD Distance between the receiving antennas

Claims

[1] Missile (1), in particular guided missile (1), comprising a missile body and a radar sensor unit (2) for detecting a target object (11), wherein the radar sensor unit (2) is configured to emit radar signals of at least one predetermined radar wavelength (l) and comprises at least two or more longitudinally strip-shaped radar antennas (7, 14, 15) mounted or integrated on a circumferential surface (16) of the missile body, such that the longitudinal direction of the radar antennas (7, 14, 15) is aligned in the direction of the missile's longitudinal axis (l), wherein the radar antennas (7, 14, 15) are configured to operate as a transmitting antenna (14) for transmitting radar signals and / or as a receiving antenna (15) for receiving reflected radar signals, and wherein the radar antennas (7, 14, 15) are arranged substantially parallel to each other. characterized by, that the radar sensor unit (2) comprises at least one radar antenna group with two or more strip-shaped radar antennas (7, 14, 15), wherein the at least one radar antenna group a) comprises at least one first radar antenna (7) configured for operation as a pure transmitting antenna (14) and at least one second radar antenna (7) associated with the first radar antenna (7), which is configured for operation as a pure receiving antenna (15) for receiving radar signals, and b) comprises at least two immediately adjacent strip-shaped radar antennas (7) configured at least for operation as pure receiving antennas (15), wherein a distance (D2, AD) between the immediately adjacent strip-shaped radar antennas (7) configured for operation as pure receiving antennas (15) perpendicular to their longitudinal direction is less than the radar wavelength (l), wherein the at least two immediately adjacent strip-shaped radar antennas (7) - the second radar antenna (7) and another radar antenna (7) set up at least for operation as a purely receiving antenna (15) - wherein the pure transmitting antenna (14) and the at least two pure receiving antennas (15) of the radar antenna group are arranged without offset. [2] Missile (1) according to claim 1, wherein the strip-shaped radar antennas (7, 14, 15) are mounted or integrated such that the longitudinal direction of a strip-shaped radar antenna (7, 14, 15) and the missile longitudinal axis (L) span a plane. [3] Missile (1) according to one of claims 1 or 2, wherein several radar antenna groups are arranged distributed around the circumference of the missile body, and wherein the several radar antenna groups are arranged in an equal distribution and / or according to a predetermined symmetry around the circumference of the missile body. [4] Missile (1) according to one of the preceding claims, wherein at least one of the radar antennas (7) is configured and operable such that it has an antenna pattern directional over the polar angle (9), wherein the polar angle (9) is defined with respect to a spherical coordinate system whose polar axis (P) runs in the direction of the longitudinal axis of the respective radar antenna, and wherein the positive polar axis is directed towards the missile tip (4). [5] Missile (1) according to claim 4, wherein an antenna main lobe (8) of the antenna pattern of the at least one radar antenna (7) has a half-width of 30 degrees or less than 30 degrees over the polar angle (9) and a half-width of 30 degrees or more than 30 degrees over the azimuth angle (10) defined by the spherical coordinate system. [6] Missile (1) according to claim 4 or 5, wherein the at least one radar antenna (7) is designed as a radar antenna (7, 14) that can be directed via the frequency or the phase via the polar angle (9). [7] Missile according to any one of claims 4 to 6, wherein at least one of the radar antennas (14) is configured as a leakage wave antenna and / or wherein several of the radar antennas (7) are configured as phased array antennas. [8] Missile (1) according to one of the preceding claims, further comprising an electronic unit (17) for the radar sensor unit (2), wherein the electronic unit (17) is data-connectable to or connected with the radar sensor unit (2) for its operation, wherein the electronic unit (17) comprises one or more electronic components (18-21, 24) which are configured such that, during operation of the electronic unit (17), they operate the radar antennas (7) as transmitting antennas (14) and / or receiving antennas (15), wherein the operation of the electronic unit (17) and / or the radar antennas (7) comprises the execution of at least one of the following steps: - Connecting a transmitting channel (18) of a transmitting electronics unit of the electronics unit (17) to at least one radar antenna (7) that can be operated as a transmitting antenna (14), and connecting a receiving channel (19) of a receiving electronics unit of the electronics unit (17) to at least one radar antenna (7) that can be operated as a receiving antenna (15), wherein radar antennas (7) that can be operated as transmitting antennas (14) and radar antennas (7) that can be operated as receiving antennas (15) are connected and operated with transmitting (18) and receiving channels (19) in such a way that the radar sensor unit (2) can be operated with an antenna main lobe (8) that can be aligned or directed in the direction of the target object; - Controlling at least one of the radar antennas (7) to align the antenna main lobe (8) towards a detected or detectable target object (11), wherein the alignment of the antenna main lobe (8) for a detectable target object (11) is varied based on target object data; - Varying the orientation of the antenna main lobe (8) in successive detection cycles and determining position data for the target object (11), comprising polar angle data (PX) of the target object (11) with respect to a missile-specific coordinate system, by comparing the amplitudes of reflected radar signals detected in successive detection cycles; - Simultaneous detection of a reflected radar signal of a radar signal emitted by a radar antenna (7) operated as a transmitting antenna (14) by means of adjacent radar antennas (7) operated as receiving antennas (15) and determination of position data for the target object (11), comprising azimuth angle data (AX) of the target object (11) in a missile-specific coordinate system, by phase and / or amplitude comparison of the simultaneously detected radar signal - Determining the distance and / or approach speed of the target object (11) based on received radar signals; [9] Missile (1) according to claim 8, wherein the electronic unit (17) comprises at least one transmitting channel (18), and wherein the electronic unit (17) comprises at least two receiving channels (19), wherein the electronic unit (17) is configured to connect the at least one transmitting channel (18) to a radar antenna (7) operable as a transmitting antenna (14) which is operable with an antenna main lobe (8) oriented towards the target object (11), and to connect the at least two receiving channels (19) to each a radar antenna (7) operable as a receiving antenna (15) for detecting the radar signals reflected at the target object (11). [10] Missile (1) according to one of the preceding claims, wherein the circumferential surface on which the radar antennas (7) are mounted or integrated is substantially planar in the longitudinal direction of the radar antennas (7). [11] Missile (1) according to one of the preceding claims, wherein the circumferential surface is cylindrical or conical with respect to the longitudinal axis (L) of the missile.

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