Method for operating a missile on a launch platform

Abstract

The invention relates to a method for operating a missile (2) on a launch platform (6). In order to allow the missile (2) to reliably perform the required trajectory after launch, the missile (2) determines its orientation relative to the launch platform (6) by means of its seeker head (4) and a direction sensor (16a - 16f) of the launch platform (6).

Description

[0001] Method for operating a missile on a launch platform

[0002] The invention relates to a method for operating a missile on a launch platform.

[0003] Before a missile is launched from a launch platform, the missile's attitude information is initialized. This initial information includes the orientation of the launch platform in or against which the missile is mounted, and—if different—the orientation of the missile within or against the launch platform. The missile's initial attitude must be known so that the missile can follow a given trajectory as precisely as possible.

[0004] It is an object of the present invention to provide a method with which the missile attitude can be reliably detected.

[0005] This object is achieved by a method of the type mentioned at the outset, in which the missile, according to the invention, determines its orientation relative to the launch platform with the aid of its seeker head using a direction indicator of the launch platform that is recognizable to the seeker head.

[0006] The invention is based on the consideration that information about the orientation of the launch platform is not sufficient to reliably determine the orientation of the missile. Even knowledge of the nominal orientation of the missile relative to its launch platform is not sufficient to precisely determine its position. In order to ensure the long-term operational readiness of a missile from a moving launch platform, the missile should be mounted in a way that protects it well against shocks and vibrations while still ensuring easy release during launch. Both of these considerations argue for a rather loose mechanical connection between the missile and the launch platform. As a result, the nominal and actual positions of the missile can differ considerably. Position information initialized with nominal data may be too inaccurate to always ensure the correct function of the missile.

[0007] Consider a missile with a seeker whose task is to provide highly accurate measurements of the line-of-sight direction to a target. This capability can be used to very accurately measure the missile's orientation relative to the launch platform before or during launch. This data can be used for attitude initialization. A heading error can be avoided, and the target can be reliably approached.

[0008] The missile can be mounted on or in the launch platform, although no distinction is made between "on" and "in" in the following. The missile's orientation within the launch platform can be described as its position within the launch platform. A distinction can be made between orientation and position, with orientation being defined by three independent rotation axes and position by three independent translation directions.

[0009] The missile may have a rocket engine and means for directional control, such as steering vanes, transverse thrusters, steering nozzles, or the like. It may therefore be a guided missile, i.e., a missile capable of actively steering itself during flight, e.g., aligning itself with a target. It may incorporate an active element to engage a target. The seeker contains an optics and a detector that are transparent or sensitive to incoming radiation, respectively. The radiation may span the wavelength range from radar radiation through infrared radiation to the visible wavelength range, or a subset thereof. Signal processing is also provided to determine the direction of incoming radiation from the detector data.

[0010] The direction indicator can be any element detectable by the seeker. Detectable is present if the direction indicator is detectable as such by the seeker or its signal processing system, for example, as a feature in an image provided by the seeker's detector. Detectable is present in particular if the direction of the direction indicator can be determined by the seeker, for example, relative to a previously known direction of the seeker, such as the missile axis, or, for example, preferably relative to the missile's orientation. The direction indicator can be an optical element, whereby the terms optics and direction indicator are not limited to the visible wavelength range. The optics can be, for example, infrared optics or radar optics, so that radiation emitted by the direction indicator or optical element can also lie outside the visible wavelength range.The direction finder can actively or passively emit radiation in a wavelength range to which the seeker is sensitive. The beam width and beam direction of the direction finder are preferably selected so that the radiation is visible to the seeker over all expected uncertainties in the missile's orientation and, preferably, also over all expected uncertainties in the missile's position relative to the launch platform.

[0011] Unlike the missile, the direction finder is conveniently rigidly attached to the launch platform and, in particular, with a small alignment tolerance. This ensures a good match between the nominal and actual alignment of the direction finder. The nominal alignment of the direction finder is known to the missile. The orientation of the direction finder can be determined by the direction of a beam emitted by the direction finder. Since the beam propagates in a straight line, the signal from the direction finder reaches the seeker head without directional error and can be measured there with high precision. The resulting information about the missile's alignment relative to the launch platform exhibits a significantly lower error than the nominal values ​​of the inaccurate mechanical connection.

[0012] The missile's seeker can determine the orientation of the direction finder relative to a known direction of the missile, such as its longitudinal axis or a reference direction of the seeker. For example, the seeker can measure radiation incident from the direction finder and use this to precisely determine the missile's position at the launcher. For this purpose, it is useful if the seeker's optics sharply image the radiation emanating from the direction finder or optical element onto its detector. If the orientation of the direction finder has a known relationship to the orientation of the launch platform, the missile's orientation relative to the launch platform can be determined from the orientation of the direction finder relative to the launch platform and the orientation of the direction finder relative to the missile's reference direction.The loose and thus inaccurate mechanical coupling of the missile to the launch platform can thus be replaced by a precise electromagnetic coupling, so that the missile's orientation can be determined precisely.

[0013] Depending on the type of seeker, its field of view may be limited, so the field of view must first be roughly aligned with the direction finder. This rough direction can either be already stored in the missile software or transmitted to the missile from the launch platform. A search procedure can also swivel the seeker's optics until the direction finder beam is within the field of view. The direction finder beam can be referred to as the reference beam. The direction finder radiation is advantageously selected so that it is distinguishable from background radiation and other sources of interference. This can be achieved by sufficiently high radiation power, but also by an imaged pattern and / or a clearly recognizable temporal change in intensity, for example in the form of amplitude modulation.

[0014] The method can be viewed as part of a method for transferring a flight path, a sequence of waypoints, or a target from a launch platform to a missile mounted on it and equipped with a seeker. Since knowing the missile's orientation at the launch platform immediately before launch is useful, the method can also be viewed as a method for launching a missile with a seeker from a launch platform.

[0015] The invention is also directed to a launch system comprising a missile with a seeker head and a launch platform for launching the missile.

[0016] To achieve a launch system that reliably enables the missile to execute the required movements after launch, it is proposed that the launch platform contain a direction finder, and that the missile be designed to determine its own orientation, particularly relative to the launch platform, with its seeker head using the direction finder. The direction finder can radiate actively or passively, i.e., radiate itself or, for example, reflect or transmit radiation from another source, with the beam direction being expediently fixed relative to a reference direction of the launch platform.

[0017] Preferred embodiments of the invention are described below, which can be combined with both the method according to the invention and the starting system according to the invention according to the independent claims. Thus, method features are also to be viewed as objectively formulated properties of the corresponding device unit, and functional device features are also to be viewed as corresponding method features.

[0018] The optics of the missile's seeker are generally configured for infinity focus. A sharp image of an object on the seeker's detector is achieved when the radiation emitted by the object falls parallel to the optics. Since the seeker can determine the direction of the direction finder most accurately when its signal is sharply imaged onto the detector, an advantageous embodiment of the invention proposes that the direction finder be a parallel radiator, i.e., an element that emits electromagnetic radiation with a parallel beam path. The seeker can determine the angle of incidence of its radiation and, from this, its orientation relative to the launch platform. The beam cross-section of the parallel radiator can be large or small. For example, the seeker contains a laser, in particular an infrared laser, so that the beam cross-section is laser-like small.It is also possible for the direction indicator to have an alignment element that aligns the rays of an approximately point-like light source in parallel or expands the cross-section of a bundle of already parallel rays. For example, the alignment element can be a parabolic mirror that deflects and parallelizes the radiation from a central radiator so that its beam cross-section is larger than the radiating element of the central radiator. Multiple alignment elements, such as parabolic mirrors or fiber optic coupling elements, are also possible for an actively radiating element. In general, any parallel radiating element is possible.

[0019] The direction finder can contain an active or passive radiator. If the direction finder is passive, it can absorb radiation and transmit it to the seeker head, for example, as a mirror or a tube through which the radiation is sufficiently parallelized due to the length of the tube. For this, the ratio of length to inner diameter should be more than 1000.

[0020] The flight path, waypoints, or target data can be assigned to the missile based on a reference position of the launch platform. This can be related to a reference point or a reference unit of the launch platform, e.g., a reference navigation unit. To keep mechanical tolerances as small as possible, it is advantageous if the direction indicator is positioned as close as possible to the reference point. It is particularly advantageous if the direction indicator is positioned directly on the reference unit, in particular directly on a reference navigation unit of the launch platform.

[0021] Furthermore, it is expedient if the direction indicator is precisely aligned with a reference navigation unit on the launch platform. As before, this can also be understood to mean that the reference beam emanating from the direction indicator, in particular the parallel beam, is precisely aligned with the reference navigation unit. After measurement by the seeker head, this direction can be taken into account when initializing the missile's attitude information. When initializing the missile's attitude, correctly recording the missile's orientation is more important than correctly recording its position on the launch platform. Therefore, the three directional dimensions of the orientation, or in other words, the three rotational dimensions in which the missile, e.g., its longitudinal axis, is aligned, are important.It should also be noted that the direction determination of the reference radiator only detects tilts of the missile around spatial axes that are not parallel to the reference beam. In order to use the method as effectively as possible, it is advantageous if the reference beam is selected so that tilts can be detected in the two directions in which the alignment tolerances are most significant for attitude initialization. These will generally be the rolling direction and a lateral tilt on a launch rail to which the missile may be held, or, for example, a lateral tilt relative to a wall of a canister in which the missile may be held, or a tilt of such a canister and thus of the missile relative to the launch platform. It is particularly advantageous if the reference beam runs transversely, and particularly preferably perpendicularly, to the direction of the greatest alignment tolerance.In many cases, this is the missile's longitudinal axis, especially when the missile is suspended from a launch rail on one side. To detect an alignment tolerance in the roll direction, it is advantageous if one beam direction of the direction indicator is aligned transversely to the missile's longitudinal direction. Transverse can encompass a deviation of up to 30° from the vertical, in particular a maximum of 10°.

[0022] A launch rail has three directions that are perpendicular to each other: the longitudinal direction of the launch rail and the missile, the lateral direction, and the distance direction in the direction of the distance between the launch rail and the missile. Detection of a lateral alignment tolerance of the missile on the launch rail can be achieved particularly precisely if one beam direction of the direction indicator is aligned in the lateral direction of a launch rail on the launch platform for the missile. Here, too, a tolerance of up to 30°, in particular a maximum of 10°, can be included.

[0023] Particularly in the case of ground-launched missiles, i.e., in the case of a ground-based launch platform, the launch platform usually carries multiple missiles, for example in a canister, or it carries multiple canisters, each containing a missile. In this case, it is sensible to carry out attitude initialization on several, particularly all, missiles present. To do this, it is necessary that each missile to be initialized has a view of a direction finder. For this to happen, it is not absolutely necessary for each seeker to see the reference beam before the first missile launch. It is sufficient if each missile sees the reference beam before its own launch, for example, if another missile has been launched that obscures its view of the reference beam.This allows multiple missiles to use the same direction finder at different times by arranging their seekers in a line that runs along the reference beam. The pre-launch must then be carried out in such a sequence that the missile that is closest to the direction finder is launched next. Attitude or direction initialization is therefore possible once the masking or shadowing missile has been fired and the seeker's view of the beam has been cleared. It is therefore advantageous if multiple missiles are launched from the launch platform and the launch of one of the missiles clears the view of a seeker of another missile to the direction finder, allowing the seeker to determine its orientation using the direction finder before its own launch.

[0024] The constraint of a firing sequence as described above can be avoided if several missiles move through the reference beam during launch and locate it. This is possible if the missiles are arranged in a plane in which their longitudinal axes also lie. Instead of running at the level of the stationary seekers, the reference beam can be offset slightly in the launch direction from the seekers. For example, the beam runs 10 cm above several seekers of several missiles. Before launch, the beam is not visible to any or all of the seekers. However, during launch, the seeker moves through the reference beam, which is visible for a short period of time to the seeker currently flying through the beam, and its direction can be determined.In this variant of the invention, several missiles are arranged on the launch platform, and one beam of the direction finder can be directed in the launch direction in front of their seeker heads. This variant has the advantage that the firing sequence of several missiles arranged one behind the other can be freely selected. In this case, the reference beam is only visible for a comparatively short time for determining the orientation. This method is also applicable when the missiles are launched from individual, sealed canisters.

[0025] If several missiles are arranged on the launch platform, it may be advisable to initialise the attitude of all these missiles before the first missile is launched. This is because exhaust fumes from launching missiles can obscure the view of a seeker head on a direction finder or impair the detectability of a reference beam, thus making initialisation difficult or, in the worst case, impossible. To achieve attitude initialisation for several missiles, it is advantageous if each missile has its own direction finder. Before launch, each missile or the associated seeker head can see its direction finder or element and determine its direction. Alternatively, several direction finders can be available for a larger number of missiles. In this case, at least one of the direction finders is assigned to several missiles.Another possibility for position initialization is that a beam from the direction sensor is split into several reference beams to several seeker heads by a beam splitter, e.g. by mirrors and / or several glass fibers.

[0026] The provision of multiple direction indicators has the further advantage that a missile, using its seeker head, can determine its orientation relative to the launch platform three-dimensionally around all three spatial axes using multiple direction indicators. For this purpose, at least two direction indicators are arranged in different directions relative to the missile or its seeker head and can be located by the seeker head. The beam directions are preferably linearly independent of each other. It is possible for multiple missiles to be assigned to one or each to a direction indicator, thus keeping the number of direction indicators to a minimum.

[0027] For example, there are multiple direction finders, each with multiple seekers positioned in the beam direction. While one seeker can obscure another in this configuration, the rear seeker can be cleared of view by the forward advance of the front seeker.

[0028] The above-described properties, features, and advantages of this invention, as well as the manner in which they are achieved, will become clearer and more readily understood in conjunction with the following description of the embodiments, which are explained in more detail in conjunction with the drawings. The embodiments serve to illustrate the invention and do not limit the invention to the combination of features specified therein, including functional features. Furthermore, suitable features of each embodiment can also be explicitly considered in isolation, removed from one embodiment, incorporated into another embodiment to supplement it, and / or combined with any of the claims. They show:

[0029] FIG 1 shows a seeker head of a missile illuminated by a direction finder,

[0030] FIG 2 four missiles in a launch platform, whose seeker heads are in the beam of a direction finder,

[0031] FIG 3 four missiles whose seeker heads are located below a beam of a direction finder,

[0032] FIG 4 a director that generates beam parallelism with a parabolic mirror,

[0033] FIG 5 the illumination of a seeker head by a passive direction finder,

[0034] FIG 6 four missiles on launch rails and a direction finder seen from above,

[0035] FIG 7 a seeker head illuminated by two direction finders from two directions,

[0036] FIG 8 four missile seeker heads, each illuminated by its own direction finder,

[0037] FIG 9 four seeker heads illuminated by several direction indicators without shadows, and

[0038] FIG 10 four seeker heads, each illuminated by several direction finders.

[0039] FIG 1 shows a missile 2, of which, for the sake of clarity, only its tip with a seeker head 4 is shown. The missile 2 is held on a launch platform 6, which is only indicated schematically and in which the missile 2 hangs from a launch rail not shown in FIG 1. The launch platform 6 can have a canister on a vehicle, for example a ship or a land vehicle, in which the missile 2 was transported. The launch platform 6 comprises a reference unit 8, which can be a reference navigation unit containing a programmable computing unit 10 that receives and / or determines target data and forwards it to a programmable control unit 12 of the missile 2. This data includes a flight direction in which the missile 2 is to fly after a launch or a pre-launch from the launch platform 6.The control unit 12 controls the flight of the missile 2 using a navigation solution based on an initial position of the missile 2 in space, which must therefore be known relative to a reference position. The reference position can be the position of the reference unit 8 of the launch platform 6 and thus also the orientation of the launch platform 6 itself, the position of which is known by corresponding sensors 14.

[0040] Even if the position of the reference unit 8 or the launch platform 6 is known and the missile 2 is suspended in the launch platform 6, the alignment tolerances of the missile 2 in the launch platform 6 can be so large that the current position of the missile 2 deviates significantly from the initial position assigned to it by the computing unit 10. This initial position error can result in a significant positioning error during the flight of the missile 2, causing the actual flight of the missile 2 to deviate significantly from its target flight. In the worst case, the missile 2 fails to reach its mission objective.

[0041] To eliminate or at least reduce the initial position error, the launch platform 6 is equipped with a direction indicator 16a. FIGS. 1 to 10 show various direction indicators 16a-16f, which are identified by the same reference number and different reference letters. When describing properties common to all direction indicators 16a-16f, the reference letters are omitted below. The direction indicator 16 has a reference direction, which can be formed by a reference beam 18. The reference beam 18 is an electromagnetic beam, for example, in the infrared or visible wavelength range. The reference beam 18 has a reference direction and is formed from parallel beams directed in this reference direction.

[0042] The reference direction can be fixed relative to the launch platform 6 and is known in particular to the computing unit 10 and / or the control unit 12 and can also be detected by the seeker head 4. Since the seeker head 4 is capable of detecting the reference direction with high precision, the missile 2 implicitly or explicitly knows its own orientation within the launch platform 6. It can incorporate this information when processing the movement specifications and thus fly correctly in the manner assigned to it. Or the current orientation of the missile 2 is communicated to the computing unit 10, which adapts its movement specifications to this orientation and transmits it in an adapted form to the missile 2. To determine the current orientation of the missile 2 relative to the launch platform 6, the directional data of the reference beam 18, i.e., the direction in which the seeker head 4 detects the reference beam 18, is sufficient.The direction can include one or more angles of incidence of its radiation into the seeker head 4. The reference beam 18 can be electromagnetic radiation emitted by the direction sensor 16. This can be generated actively by the direction sensor 16, e.g., using a laser, or transmitted passively, e.g., using a mirror or a radiation channel.

[0043] The direction indicator 16 can be an active or passive radiator. In order to be recognizable by the seeker head 4 in a sharp image of the reference beam 18, the reference beam 18 should be a parallel beam of electromagnetic radiation whose wavelength the seeker head 4 is sensitive to. For example, the direction indicator 16a is a parallel radiator that emits its reference beam 18 exclusively in parallel radiation, as indicated in FIG. 1 by the parallel arrows. The reference beam 18 of the direction indicator 16 falls into the seeker head 4 and is imaged by the latter onto its detector as a sharp point, from whose position on the detector the reference direction can be determined.

[0044] The direction indicator 16 is precisely aligned with the reference unit 8 of the launch platform 6. This can be achieved by knowing the reference direction, e.g., relative to the launch platform 6. A loose mechanical connection 20 of the missile 2 to the launch platform 6 is transformed into a low-tolerance electromagnetic connection by a fixed, low-tolerance mechanical connection 22 and the electromagnetic bridge to the seeker head 4, with which the current orientation of the missile 2 in the launch platform 6 can be detected and taken into account. For this purpose, it is expedient if the direction indicator 16 is rigidly connected to the reference unit 8, in particular if it is attached directly to the reference unit 8.

[0045] Before or during the launch of the missile 2, the seeker head 4 can determine the reference direction and, from this, its own orientation within the launch platform 6—that is, relative to the launch platform 6. To do this, it aligns its optics 24 so that the reference beam 18 falls into the optics 24 and can be processed to determine the direction. The alignment can be performed in advance, for example, by the control unit 12 knowing—e.g., through data transmitted in advance to the control unit 12—from which direction the reference beam 18 is to be expected, or by the reference beam 18 being searched for by pivoting the optics 24. The launch platform 6 expediently informs the missile 2 when the reference beam 18 or the direction indicator 16 is visible, so that the direction determination can be triggered without the direction indicator 16 always having to be visible.In order to avoid confusion or interference, the reference beam 18 or the visibility of the direction indicator 16 can be provided with a code, for example with a radiation code of the reference beam 18, such as a fixed flashing frequency.

[0046] FIG. 2 shows several missiles 2 in the launch platform 6, which is also only indicated schematically here, which contains the reference unit 8 and a direction indicator 16b, which can be designed like the direction indicator 16a or in a different construction. The following description is essentially limited to the differences from the exemplary embodiment in FIG. 1, to which reference is made with regard to identical features and functions. To avoid having to repeat what has already been described, all features of a previous exemplary embodiment are generally adopted in the following exemplary embodiment without being described again, unless features are described as differences from the previous exemplary embodiment.

[0047] The direction finder 16b is aligned such that its reference beam 18 would pass through all seeker heads 4 of the missiles 2 if it were not shadowed by another seeker head 4. FIG. 2 shows how the individual missiles 2 are not aligned exactly parallel to one another, but are attached to the launch platform 6 with a relatively large alignment tolerance, thus deviating from one another in their alignment. This alignment tolerance refers to all three directional dimensions, or in other words, to all three rotational dimensions. It can also refer to the three translational dimensions, which are less important, however, and will therefore not be discussed further below.

[0048] The seekers 4 are all located in the line of the reference beam 18. If shadowed, the reference beam 18 would initially only be visible to the seeker 4 closest to the direction finder 16b, allowing it to initialize its alignment. Only after this missile 2 has been launched can the then closest seeker 4 see the direction finder 16b and thus initialize the direction of the reference beam 18 and its alignment. With this arrangement, the order in which the missiles 2 are launched from the launch platform 6 is therefore fixed so that each seeker 4 has a clear view of the direction finder 16b before launch. The missile 2 closest to the direction finder 16b launches first, followed by the next missile 2, and so on, up to the missile 2 furthest away from the direction finder 16b.

[0049] This disadvantage of a fixed launch sequence or firing sequence as described in the context of the exemplary embodiment is avoided by the exemplary embodiment in FIG 3. Here, the reference beam 18 lies in the launch direction or longitudinal direction in front of the seeker heads 4 of the missiles 2 in the launch platform 6, specifically in extension of the longitudinal direction of the missiles 2. Before launch, the direction indicator 16b is therefore not visible to any of the seeker heads. During launch, however, the missiles 2 fly through the reference beam 18 with their seeker heads 4, so that it is visible to each of the seeker heads 4 for the duration of the flight. The order of the launches is irrelevant here, as long as two missiles 2 do not launch so close together in time that one shadows the other during its flight through the reference beam 18.Due to the exhaust jet emitted by a missile 2 during its launch, it is also advisable to allow some time to elapse between launches of missiles 2 so that the reference jet 18 can penetrate the exhaust of an already launched missile 2. However, this also applies equally to the embodiment shown in FIG. 2.

[0050] FIG 4 shows a direction finder 16c with a radiation source 26 and a parabolic mirror 28 illuminated by the radiation source 26. The radiation source 26 can be a central radiator, i.e., one that emits its rays spherically or partially spherically from a center, for example, an incandescent radiator. The rays of the essentially point-shaped radiation source 26, located at the focus of the parabolic mirror 28, are aligned parallel by the parabolic mirror 28 and directed as an expanded reference beam 18 to several seeker heads 4 of the launch platform 6, so that the reference beam—although parallel—falls into several seeker heads 4 simultaneously, the direction of incidence being identical for all seeker heads 4. Due to the parallel nature of the rays, they are imaged as points on the detector of the respective seeker head 4 and thus indicate the reference direction of the reference beam 18.This design has the advantage that the reference beam 18 is expanded to such an extent that it falls simultaneously on each of the seeker heads 4, so that the seeker heads 4 can all determine the reference direction independently of one another and before launch. Furthermore, a parallel-radiating light source is dispensed with, since the radiation from this parallel radiator is collimated by the parabolic mirror 28. In the embodiment shown in FIG. 5, a passive direction finder 16d is used. Only beams passing parallel through the beam guide 29 can pass through a straight beam guide 29, for example in the form of a tube, with a matte inner surface, so that the reference beam 18 is collimated.The other end of the beam guide 29 can be directed at any radiation visible to the seeker head 4, such as ambient radiation or a warm surface of the launch platform 6, as long as the beam intensity is sufficient to be detected by the seeker head 4. To facilitate detection, the cross-sectional shape of the reference beam 18 can be predetermined and characteristically shaped, for example, as a cross, so that this pattern can be easily distinguished from ambient radiation. By patterning due to the cross-sectional enlargement, the strict parallelism of the reference beam 18 is dispensed with, which results in an enlargement of the image of the reference beam 18 on the detector. The reference direction can only be determined through pattern recognition combined with a predetermined and easily recognizable reference point of the pattern, e.g., the intersection point of two perpendicular lines.This principle can be applied to any direction finder 16. With a passive direction finder 16d, the area surrounding the reference beam 18 should be darkened so that the reference beam 18 is sufficiently clearly visible against the dark background. Alternatively or additionally, a radiation source 26 can be placed on the beam guide 29 to increase the radiation intensity. This radiation source 26 does not have to be a component of the direction finder 16d. Its optionality is indicated in FIG. 5 by its dotted line.

[0051] FIG 6 shows the configuration of the embodiment from FIG 2 from above, i.e. opposite the launch direction of the missiles 2. The missiles 2 are each attached to their launch rail 30, whereby considerable variations in the roll alignment and also tilting of the missiles 2 are visible. The fields of view of the seeker heads 4 are all aligned with the direction indicator 16b in order to be able to recognize the reference beam 18 immediately after being released by the shadowing. The reference beam 18 passes - apart from the shadows - through all seeker heads 4. Also shown are the distance direction 32, which is aligned in the direction of the distance of a missile 2 from its launch rail 30, and the lateral direction 34, which is aligned perpendicular to the distance direction 32 and to the longitudinal direction of the missile 2. There are large alignment tolerances around all three rotation axes.In FIG. 2, large alignment tolerances can be seen in the lateral direction 34; for the sake of clarity, their perspective representation in FIG. 6 has been omitted. The alignment tolerances in one direction, e.g. the lateral direction 34, are not position tolerances, but rotation tolerances, i.e. alignment tolerances about an axis, in the lateral direction 34 about a transverse axis. The orientation or alignment tolerance of the missile 2 in the roll direction and in the lateral direction 34 can be detected by the reference beam 18 in the lateral direction 34. The rotation axes with respect to which alignment tolerances can be determined are shown by a corresponding representation in FIG. 6. The comparatively small alignment tolerance, or in other words misalignment orDeviation from nominal alignment to real alignment in distance direction 32 cannot be detected with this beam alignment, since it does not cause a change in the position of the focus point of the reference beam 18 on the detector, but rather a rotation of the focus point.

[0052] This disadvantage can be avoided with the embodiment shown in FIG. 7. Here, the seeker head 4 is illuminated by several direction indicators 16, whose design can be designed in any form from one of the embodiments. Based on several reference directions of the several reference beams 18, the alignment tolerance in the distance direction 32 can also be detected, i.e., around a rotation axis that runs from left to right in the plane of the paper in FIG. 7 (see corresponding representation of the rotation axis in FIG. 7). In general, the alignment tolerances can be detected in all three spatial directions if the alignment of the two reference directions to each other or to the launch platform 6 or another direction is known. The larger the sine of the angle between the two reference beams 18, the more accurate the alignment detection of the missile 2 can be.

[0053] In the embodiment of FIG 8, each seeker 4 or missile 2 has its own direction indicator 16, which illuminates only the seeker 4 assigned to it with parallel beams. In principle, this configuration is similar to that of FIG 4, although the parabolic mirror 28 can be omitted and instead several direction indicators 16 are used, expediently in the form of parallel radiators. The alignment of the reference beams 18 can be parallel to one another, as shown in FIG 8, although this is not absolutely necessary as long as the reference directions are all known. In general, one reference beam 18 can also illuminate several seekers 4 as long as the beams of the reference beam 18 are parallel. FIG 9 shows an embodiment based on the principle of FIG 7, but with several missiles 2, so that each seeker 4 receives multiple irradiation as in FIG 7.This allows the three-dimensional determination of the orientation for each of the seekers 4 before launch. Furthermore, there are no shadows, so the launch sequence of the missiles 2 is arbitrary. The constellation from FIG 9 requires only two direction sensors 16e. Each of these is equipped with a beam splitter that splits the essentially parallel radiation into several directions. It is important that the beams from a direction sensor 16e only hit a seeker 4 in one direction, so that the beam splitting shades the other seekers 4. In addition, all reference directions of all reference beams 18 must be known, as well as the assignment of the individual reference directions to the seekers 4. This design is easier to calibrate than the embodiments from FIG 4 and FIG 8, since only the small beam splitters need to be precisely aligned.The optics 24 of the seeker heads 4 are aligned so that the reference beams 18 enter from both reference directions. If the field of view is too small for this, the optics 24 must be directed successively toward the two reference beams 18 in order to record their directions one after the other.

[0054] The arrangement shown in FIG. 10 combines the principles of FIG. 6 and FIG. 7. Several seeker heads 4—in FIG. 10 only two each, but there can be more—are arranged in a reference beam 18, with the associated shadowing. Furthermore, the seeker heads 4 are all illuminated from two directions—except for the shadows—so that a determination of the three-dimensional orientation is possible. The launch of a missile 2 positioned further forward in the reference beams 18 provides a view of the reference beams 18 for two seeker heads positioned behind it.

[0055] The arrangement can be implemented with several active direction finders 16, so that each reference beam 18 is generated by a direction finder 16. In the embodiment of FIG. 10, however, a single actively radiating element 36 is sufficient, which supplies the direction finders 16f with radiation via two optical conductors 38, for example glass fibers, by connecting them to the actively radiating element 36. The direction finders 16f can be decoupling elements that decouple a portion of the radiation passing through their optical conductor 38 and emit it as their reference beam 18. List of reference symbols Missile Seeker Launch platform Reference unit Computing unit Control unit Sensors af Direction finder Reference beam Connection Connection Optics Radiation source Parabolic mirror Beam guide Launch rail Distance direction Lateral direction Element Optical conductor

Claims

Patent claims 1. Method for operating a missile (2) on a launch platform (6), characterized in that the missile (2) determines its orientation relative to the launch platform (6) with the aid of its seeker head (4) using a direction indicator (16a - 16f) of the launch platform (6) that is recognizable by the seeker head (4).

2. Method according to claim 1, characterized in that the direction indicator (16a - 16f) is a parallel radiator and the seeker head (4) determines the angle of incidence of its radiation and from this its orientation relative to the launch platform (6).

3. Method according to claim 1 or 2, characterized in that the direction indicator (16d) is a passive radiator and the seeker head (4) determines its direction relative to the seeker head (4) and therefrom its orientation relative to the launch platform (6).

4. Method according to one of the preceding claims, characterized in that the direction indicator (16a - 16f) is aligned in a defined manner with respect to a reference navigation unit of the launch platform (6) and the seeker head (4) processes this alignment when determining the orientation of the missile (2).

5. Method according to one of the preceding claims, characterized in that several missiles (2) are launched from the launch platform (6) and by launching one of the missiles (2) the view of a seeker head (4) of another missile (2) to the direction finder (16b, 16f) is released and the seeker head (4) determines its orientation using the direction finder (16b, 16f) before its own launch.

6. Method according to one of the preceding claims, characterized in that the seeker head (4) is moved by a beam of the direction sensor (16b) during the launch process of the missile (2) from the launch platform (6).

7. Method for operating a missile on a launch platform, characterized in that the missile (2) determines its orientation relative to the launch platform (6) in three dimensions using its seeker head (4) using a plurality of direction sensors (16, 16e) of the launch platform (6).

8. Launch system comprising a missile (2) with a seeker head (4) and a launch platform (6) for launching the missile (2), characterized in that the launch platform (6) contains a direction finder (16a - 16f) and the missile (2) is designed to determine its own orientation relative to the launch platform (6) with its seeker head (4) using the direction finder (16a - 16f).

9. Launch system according to claim 8, characterized in that the direction sensor (16a - 16f) is arranged directly on a reference navigation unit of the launch platform (6).

10. Launch system according to claim 8 or 9, characterized in that a beam direction of the direction indicator (16b, 16d, 16f) is aligned transversely to the longitudinal direction of the missile (2).

11. Launch system according to one of claims 8 to 10, characterized in that a beam direction of the direction indicator (16b, 16d, 16f) is aligned in the lateral direction (34) of a launch rail (30) for the missile (2).

12. Starting system according to one of claims 8 to 11, characterized in that that several missiles (2) are arranged on the launch platform (6) and a beam direction of the direction indicator (16b, 16f) is aligned with all seeker heads (4) of the missiles (2).

13. Launch system according to one of claims 8 to 12, characterized in that several missiles (2) are arranged on the launch platform (6) and a beam direction of the direction indicator (16b) runs in the launch direction in front of their seeker heads (4).

14. Launch system according to one of claims 8 to 13, characterized in that several missiles (2) are arranged on the launch platform (6) and each missile (2) has its own direction indicator (16).

15. Launch system according to one of claims 8 to 14, characterized in that several missiles (2) are arranged on the launch platform (6) and several direction sensors (16b, 16f) are present, in the beam direction of which several seeker heads (4) are located.

Images