Guidance system

Abstract

To provide a guidance system capable of intercepting a target without causing collision of a plurality of launched flying objects.SOLUTION: A guidance system included in a flying object has a navigation computer 14 that calculates a rudder angle command using the relative distance, relative speed, relative angle, and relative angular speed between the flying object and a target, and the position, speed, acceleration, attitude angle, and attitude angular speed of the flying object. The navigation computer 14 includes a meeting angle offset calculation unit 22 that calculates a meeting angle offset amount for avoiding collision of the plurality of flying objects before they hit the target after being launched toward the target, a guidance control processing unit 20 that calculates an acceleration command by adjusting the meeting angle of the flying object based on the meeting angle offset amount so that the flying objects do not collide, and an autopilot 21 that calculates a steering angle command based on the acceleration command.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a guidance device that guides a launched projectile to a target. [Background technology]

[0002] In recent years, for example, it has been considered to launch a flying object having a seeker or a guidance device so as to hit a high-speed missile, and to intercept the high-speed missile with the flying object. In the following, the object that the flying object intercepts is described as a "target." A high-speed missile is an example of a "target."

[0003] When intercepting a target, it is necessary to increase the probability, as much as possible, of the projectile hitting the target and neutralizing the target.

[0004] One possible method for increasing the probability of a projectile hitting a target is to fire multiple projectiles toward a single target simultaneously or with a similar time lag, thereby increasing the probability that at least one of the multiple projectiles will hit the target.

[0005] In addition, as shown in Patent Document 1, for example, a method can be considered in which a missile hits a target in a head-on collision or near head-on collision state using counter-parallel navigation to destroy the target. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2011-242105 A Summary of the Invention [Problem to be solved by the invention]

[0007] However, in the above-mentioned method, each of the multiple projectiles launched attempts to collide head-on with a single target, and therefore, if the multiple projectiles approach each other, they may collide before hitting the target, making it impossible to intercept the target.

[0008] The present disclosure has been made in consideration of the above, and aims to provide a guidance device that enables intercepting a target without causing collisions between multiple launched flying objects. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems and achieve the object, the guidance device according to the present disclosure is a guidance device included in a flying object, and has a navigation computer that calculates a steering angle command using the relative distance, relative speed, relative angle, and relative angular velocity between the flying object and a target, and the position, speed, acceleration, attitude angle, and attitude angular velocity of the flying object. The navigation computer has an angle offset amount calculation unit that calculates an angle offset amount of the flying object to avoid collision of the flying objects before hitting the target after multiple flying objects including the flying object are launched toward the target so as to hit the target. The navigation computer further has a guidance control processing unit that calculates an acceleration command by adjusting the angle of the flying object so that the multiple flying objects do not collide, based on the relative distance, relative speed, relative angle, and relative angular velocity between the flying object and the target, the position, speed, acceleration, attitude angle, and attitude angular velocity of the flying object, and the angle offset amount calculated by the angle offset amount calculation unit, and an autopilot that calculates a steering angle command based on the acceleration command calculated by the guidance control processing unit. Effect of the Invention

[0010] The guidance device according to the present disclosure has an effect of enabling interception of a target without causing collisions between multiple launched flying objects. [Brief description of the drawings]

[0011] [Figure 1]A diagram showing two launched missiles intercepting a target. [Diagram 2] FIG. 1 is a block diagram showing a configuration of a guidance device according to an embodiment; [Diagram 3] FIG. 2 is a block diagram showing the configuration of a navigation computer included in the guidance device according to the embodiment; [Figure 4] FIG. 1 is a diagram for explaining the definitions of symbols used by an association angle offset amount calculation unit included in a navigation computer of a guidance device according to an embodiment. [Diagram 5] 1 is a flowchart showing the procedure of an operation performed by an association angle offset amount calculation unit included in a navigation computer of a guidance device according to an embodiment. [Figure 6] FIG. 1 is a diagram showing a processor in a case where at least some of the functions of a tracking device, an inertial device, a transmitting / receiving device, a navigation computer, and a steering device included in a guidance device according to an embodiment are realized by the processor. [Figure 7] FIG. 1 is a diagram showing a processing circuit in a case where at least some of the functions of a tracking device, an inertial device, a transmitting / receiving device, a navigation computer, and a steering device included in a guidance device according to an embodiment are realized by the processing circuit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, a guidance device according to an embodiment will be described in detail with reference to the drawings.

[0013] Embodiment FIG. 1 is a diagram showing two launched flying objects 1A and 1B intercepting a target 2. The two flying objects 1A and 1B are examples of multiple flying objects. The flying object 1A has a guidance device that guides the launched flying object 1A to the target 2, and the flying object 1B has a guidance device that guides the launched flying object 1B to the target 2. In the example shown in FIG. 1, in order to intercept the target 2 in flight, a launching device 3A launches the flying object 1A, and a launching device 3B launches the flying object 1B. One launching device may have the launching device 3A and the launching device 3B, or one launching device may have the functions of the launching device 3A and the launching device 3B and launch the flying object 1A and the flying object 1B.

[0014] When the flying object 1A hits the target 2, it collides with the target 2 at an angle φA, and when the flying object 1B hits the target 2, it collides with the target 2 at an angle φB. In general, both the angles φA and φB are called "meeting angles." When the flying object 1A and the flying object 1B hit the target 2 head-on, the meeting angle is 0 degrees. FIG. 1 also shows a meeting point, which is the point at which the flying object 1A and the flying object 1B hit the target 2. FIG. 1 also shows a radar system 5 that searches for and tracks the target 2, and a fire control device 6 that transmits guidance parameters to each of the two flying objects 1A and 1B based on commands transmitted by the radar system 5.

[0015] FIG. 2 is a block diagram showing a configuration of a guidance device 10 according to an embodiment. The guidance device 10 is included in each of the two flying objects 1A and 1B. FIG. 2 also shows the flying object 1 having the guidance device 10. The flying object 1 is a collective term for the two flying objects 1A and 1B. The guidance device 10 has a tracking device 11 that tracks a target 2 and observes or calculates the relative distance, relative speed, relative angle, and relative angular speed between the flying object 1 and the target 2, and an inertial device 12 that observes or calculates the position, speed, acceleration, attitude angle, attitude angular speed, and the like of the flying object 1. The guidance device 10 further has a transmitting / receiving device 13 that receives information transmitted from the radar system 5.

[0016] The guidance device 10 has a navigation computer 14 that calculates a rudder angle command using the relative distance, relative speed, relative angle, and relative angular speed between the flying object 1 and the target 2 obtained by the tracking device 11, and the position, speed, acceleration, attitude angle, and attitude angular speed of the flying object 1 obtained by the inertial device 12. More specifically, the navigation computer 14 calculates a rudder angle command based on the relative distance, relative speed, relative angle, and relative angular speed between the flying object 1 and the target 2 obtained by the tracking device 11, the position, speed, acceleration, attitude angle, and attitude angular speed of the flying object 1 obtained by the inertial device 12, and information received by the transmitting / receiving device 13. The navigation computer 14 also has a function of calculating an offset amount of the meeting angle of the flying object 1 to avoid collision of multiple flying objects including the flying object 1 before hitting the target 2 after the multiple flying objects are launched toward the target 2 so as to hit the target 2.

[0017] The guidance system 10 further includes a steering device 15 that guides the flying object 1 based on a rudder angle command calculated by the navigation computer 14 based on the meeting angle offset amount. In other words, the steering device 15 steers the flying object 1. The flying object 1 further includes a propulsion device 16. The propulsion device 16 is also shown in FIG. 2.

[0018] Next, the operation of the guidance device 10 will be described. The tracking device 11 tracks the target 2, observes or calculates the relative distance, relative speed, relative angle, relative angular speed, etc. between the flying object 1 and the target 2, and outputs the observation results and calculation results to the navigation computer 14. The inertial device 12 observes or calculates the position, speed, acceleration, attitude angle, attitude angular speed, etc. of the flying object 1, and outputs the observation results and calculation results to the navigation computer 14. The transmitting / receiving device 13 receives information transmitted from the radar system 5, and outputs the received information to the navigation computer 14.

[0019] The navigation computer 14 receives information output from the tracking device 11, the inertial device 12, and the transmitting / receiving device 13, calculates a rudder angle command based on the received information, and outputs the rudder angle command to the steering device 15. The navigation computer 14 also outputs target information, which is information related to the target 2, and flying object information, which is information related to the flying object 1 having the guidance device 10, to the transmitting / receiving device 13. The transmitting / receiving device 13 transmits the information from the navigation computer 14 to the radar system 5. Details of the navigation computer 14 will be described with reference to FIG. 3.

[0020] The flying object 1 receives thrust from a propulsion device 16 and its movement is controlled by a steering device 15 , and performs a guided flight toward a target 2 .

[0021] FIG. 3 is a block diagram showing the configuration of the navigation computer 14 of the guidance device 10 according to the embodiment. The navigation computer 14 has a guidance control processing unit 20, an autopilot 21, and an angle offset calculation unit 22. The angle offset calculation unit 22 calculates an angle offset amount of the flying object 1 to avoid collision of the flying object 1 before hitting the target 2 after the flying object 1 is launched toward the target 2 so as to hit the target 2. The guidance control processing unit 20 adjusts the angle of the flying object 1 so as to prevent collision of the flying object 1 based on the relative distance, relative speed, relative angle, and relative angular velocity between the flying object 1 and the target 2, the position, speed, acceleration, attitude angle, and attitude angular velocity of the flying object 1, and the angle offset amount calculated by the angle offset calculation unit 22, and calculates an acceleration command. The autopilot 21 calculates a rudder angle command based on the acceleration command calculated by the guidance control processing unit 20. The tracking device 11, the inertial device 12, and the steering device 15 are also shown in FIG. 3.

[0022] Next, the operation of the navigation computer 14 will be described. The guidance control processing unit 20 calculates an acceleration command based on information from the tracking device 11 and the inertial device 12. The guidance control processing unit 20 outputs the calculated acceleration command to the autopilot 21. The guidance control processing unit 20 also outputs an acceleration command to the inertial device 12. The autopilot 21 calculates a rudder angle command based on the acceleration command calculated by the guidance control processing unit 20, and outputs the calculated rudder angle command to the steering device 15.

[0023] The guidance control processing unit 20 calculates an acceleration command so that the meeting angle becomes 0 degrees in order to make the flying object 1 flying toward the target 2 collide head-on with the target 2. However, when multiple flying objects are launched, the multiple flying objects approach each other and may collide before hitting the target 2, which may make it impossible to intercept the target 2.

[0024] Therefore, the meeting angle offset amount calculation unit 22 calculates the meeting angle offset amount of the flying object 1 to avoid collision of the multiple flying objects before hitting the target 2. The meeting angle offset amount calculation unit 22 provides the calculated meeting angle offset amount to the guidance control processing unit 20, and the guidance control processing unit 20 adjusts the meeting angle of the flying object 1 so that the multiple launched flying objects do not collide. As a result, each of the multiple flying objects hits one target 2 in a state close to a head-on collision. In this way, the guidance device 10 performs terminal guidance that enables interception of the target 2.

[0025] The meeting angle offset amount calculation unit 22 may be present in the guidance system 10 as an individual device, rather than being included in the navigation computer 14, or may be included in a device other than the navigation computer 14 among the multiple devices that the guidance system 10 has.

[0026] Since the meeting angle required for direct hit destruction has a tolerance range, for example, "0 degrees ±5 degrees," the meeting angle offset is set so that each meeting angle of the multiple projectiles falls within the tolerance range and so that the multiple projectiles do not collide with each other. A specific method for calculating the meeting angle offset will be described later.

[0027] In addition, the flying object to which the meeting angle offset amount is applied among the multiple flying objects may be some of the multiple flying objects or all of the multiple flying objects. In the example of FIG. 1, the flying object to which the meeting angle offset amount is applied may be one of the two flying objects 1A and 1B or both of them. The flying object to which the meeting angle offset amount is applied is determined based on the operation concept, a part or all of a simulation, and a mock test. In the following, a case will be described in which the multiple flying objects are the two flying objects 1A and 1B shown in FIG. 1 and the meeting angle offset amount is applied to one of the two flying objects 1A and 1B.

[0028] 4 is a diagram for explaining the definition of symbols used by the meeting angle offset amount calculation unit 22 of the navigation computer 14 of the guidance device 10 according to the embodiment. It is assumed that a target 2 exists at the origin in an orthogonal coordinate system in which the z-axis points downward. The flying object 1 and the target 2 are indicated by points. As an example of the coordinate system, a orthogonal coordinate system is used, but a coordinate system other than the orthogonal coordinate system may be used.

[0029] The velocity vector of target 2 is the velocity vector V t The relative position vector between the projectile 1 and the target 2 is the relative position vector r, and the velocity vector of the target 2 is the velocity vector V t The angle that the relative position vector r makes with respect to the velocity vector V is the signed approach angle θ. The relative position vector r between the projectile 1 and the target 2 is the position vector of the target 2 with respect to the projectile 1. The signed approach angle θ is t The velocity vector V when the start point of and the end point of the relative position vector r are aligned t The smaller angle between the line segment of and the line segment of the relative position vector r. The velocity vector V of target 2t is expressed by the following formula (1): A relative position vector r between the flying object 1 and the target 2 is expressed by the following formula (2): The signed approach angle θ will be explained further later.

[0030]

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[0031]

number

[0032] The relative position vector r between the flying object 1 and the target 2 may be calculated by the meeting angle offset calculation unit 22 using the position vectors of the flying object 1 and the target 2, or may be provided as a guidance parameter from the fire control system 6 based on a command transmitted by the radar system 5.

[0033] The region where the signed approach angle θ has a positive sign is defined as region A, and the region where the signed approach angle θ has a negative sign is defined as region B. Note that although the regions are divided in the azimuth direction in FIG. 4, the quadrants may be divided in either the azimuth direction or the elevation direction.

[0034] The allowable meeting angle required for direct hit destruction is θ'. θ' is a scalar quantity. The value of θ' depends on the motion characteristics and meeting conditions of the target 2 and the missile 1, and is determined based on the operational concept, part or all of the simulations and mock tests.

[0035] Fig. 5 is a flowchart showing the procedure of the operation performed by the meeting angle offset amount calculation unit 22 of the navigation computer 14 of the guidance system 10 according to the embodiment. A method of calculating the meeting angle offset amount will be described with reference to Fig. 5. For the purpose of explanation, it is assumed that two flying objects 1A and 1B are launched and the signed approach angle θ of the flying object 1A is θ 1A The signed approach angle θ of the flying object 1B is θ 1B The meeting angle offset amount is defined as β, and the definition of the sign is the same as that of the signed approach angle θ.

[0036] In step S1, the meeting angle offset amount calculation unit 22 calculates the signed approach angle θ of each of the two flying objects 1A, 1B using the following formula (3). Note that, since initial and mid-stage guidance is performed to cause a head-on collision, the range of the signed approach angle θ is -90 degrees≦θ≦90 degrees, and the signed approach angle θ is within the allowable range θ' of the meeting angle required for a direct hit destruction.

[0037]

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[0038] In step S2, the meeting angle offset amount calculation unit 22 determines whether the signs of the signed approach angles θ of the two flying bodies 1A, 1B are different based on the result calculated in step S1. If the meeting angle offset amount calculation unit 22 determines that the signs of the signed approach angles θ of the two flying bodies 1A, 1B are different (Yes in S2), it performs the operation of step S3. If the meeting angle offset amount calculation unit 22 determines that the signs of the signed approach angles θ of the two flying bodies 1A, 1B are the same (No in S2), it performs the operation of step S4.

[0039] In step S3, the meeting angle offset amount calculation unit 22 determines which of the two flying objects 1A, 1B has the smaller signed approach angle θ. The flying object 1A, 1B with the smaller signed approach angle θ is closer to the velocity vector of the target 2. When the meeting angle offset amount calculation unit 22 determines that the flying object 1A has the smaller signed approach angle θ of the two flying objects 1A, 1B (flying object 1A in S3), it performs the operation of step S5. When the meeting angle offset amount calculation unit 22 determines that the flying object 1B has the smaller signed approach angle θ of the two flying objects 1A, 1B (flying object 1B in S3), it performs the operation of step S6.

[0040] In step S4, the meeting angle offset amount calculation unit 22 determines which of the two flying objects 1A, 1B has the smaller signed approach angle θ. The flying object 1A, 1B with the smaller signed approach angle θ is closer to the velocity vector of the target 2. When the meeting angle offset amount calculation unit 22 determines that the flying object 1A has the smaller signed approach angle θ of the two flying objects 1A, 1B (flying object 1A in S4), it performs the operation of step S7. When the meeting angle offset amount calculation unit 22 determines that the flying object 1B has the smaller signed approach angle θ of the two flying objects 1A, 1B (flying object 1B in S4), it performs the operation of step S8.

[0041] In steps S5 to S8, the meeting angle offset amount calculation unit 22 calculates the meeting angle offset amount β using the following formulas (4) to (7). In formulas (4) to (7), the coefficient α is a value that satisfies 0<α<1, and is determined from a part or all of an operational concept, a simulation, and a mock test. It is assumed that the meeting angle offset amount β is applied to one of the two flying bodies 1A, 1B, and the meeting angle offset amount β calculated by the meeting angle offset amount calculation unit 22 for the other flying body is 0.

[0042] In step S5, the meeting angle offset amount calculation unit 22 of the flying object 1A calculates the signed approach angle θ 1A is positive or negative, the meeting angle offset amount β of the flying object 1A is calculated.

[0043]

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[0044] In step S6, the meeting angle offset amount calculation unit 22 of the flying object 1B calculates the signed approach angle θ 1B is positive or negative, the meeting angle offset amount β of the flying object 1B is calculated.

[0045]

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[0046] In step S7, the meeting angle offset amount calculation unit 22 of the flying object 1A calculates the signed approach angle θ 1A is positive or negative, the meeting angle offset amount β of the flying object 1A is calculated.

[0047]

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[0048] In step S8, the meeting angle offset amount calculation unit 22 of the flying object 1B calculates the signed approach angle θ 1B is positive or negative, the meeting angle offset amount β of the flying object 1B is calculated.

[0049]

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[0050] As described above, the signs of the signed approach angles θ of the two flying objects 1A and 1B are different, and the signed approach angle θ of the flying object 1A 1A is the signed approach angle θ of the missile 1B 1B Smaller, the signed approach angle θ of the missile 1A 1A The equation (4) is given for calculating the meeting angle offset amount β when the sign of is positive and when it is negative. The signs of the signed approach angles θ of the two flying objects 1A and 1B are different, and the signed approach angle θ of the flying object 1B is 1B is the signed approach angle θ of the missile 1A 1A Smaller, the signed approach angle θ of the missile 1B 1BThe formula (5) is given for calculating the meeting angle offset amount β when the sign of the sign of the approach angle θ of the two flying objects 1A and 1B is the same, and the sign of the approach angle θ of the flying object 1A is the same. 1A is the signed approach angle θ of the missile 1B 1B Smaller, the signed approach angle θ of the missile 1A 1A Equation (6) is given for calculating the meeting angle offset amount β when the sign of is positive and when it is negative. Furthermore, when the signs of the signed approach angles θ of the two flying objects 1A and 1B are the same, and the signed approach angle θ of the flying object 1B is 1B is the signed approach angle θ of the missile 1A 1A Smaller, the signed approach angle θ of the missile 1B 1B Equation (7) is given for calculating the meeting angle offset amount β when the sign of is positive and when it is negative.

[0051] The meeting angle offset amount calculation unit 22 determines whether the signs of the signed approach angles θ of the two flying objects 1A and 1B are different, and calculates the signed approach angle θ of the flying object 1A. 1A is the signed approach angle θ of the missile 1B 1B It is determined whether the signed approach angle θ of the flying object 1A is smaller than 1A is determined to be positive or negative. In each of the two flying objects 1A, 1B, the meeting angle offset amount calculation unit 22 calculates the meeting angle offset amount β using an equation corresponding to the determination result.

[0052] As described above, the guidance device 10 according to the embodiment calculates the meeting angle offset amount β of the flying object 1 to avoid collision of the multiple flying objects before hitting the target 2 after multiple flying objects including the flying object 1 having the guidance device 10 are launched toward the target 2 so as to hit the target 2, and calculates a steering angle command based on the meeting angle offset amount β. Therefore, the guidance device 10 has the effect of enabling the target 2 to be intercepted without causing collision of the multiple launched flying objects.

[0053] Fig. 6 is a diagram showing a processor 97 in the case where at least some of the functions of the tracking device 11, the inertial device 12, the transceiver 13, the navigation computer 14, and the steering device 15 of the guidance device 10 according to the embodiment are realized by the processor 97. In other words, at least some of the functions of the tracking device 11, the inertial device 12, the transceiver 13, the navigation computer 14, and the steering device 15 may be realized by the processor 97 that executes a program stored in a memory 98. The processor 97 is a CPU (Central Processing Unit), a processing system, an arithmetic system, a microprocessor, or a DSP (Digital Signal Processor). The memory 98 is also shown in Fig. 6.

[0054] When at least some of the functions of the tracking device 11, the inertial device 12, the transceiver device 13, the navigation computer 14, and the steering device 15 are realized by the processor 97, the at least some of the functions are realized by the processor 97 and software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 98. The processor 97 realizes at least some of the functions of the tracking device 11, the inertial device 12, the transceiver device 13, the navigation computer 14, and the steering device 15 by reading and executing the program stored in the memory 98.

[0055] When at least some of the functions of the tracking device 11, the inertial device 12, the transceiver 13, the navigation computer 14, and the steering device 15 are realized by the processor 97, the guidance device 10 has a memory 98 for storing a program that results in at least some of the steps executed by the tracking device 11, the inertial device 12, the transceiver 13, the navigation computer 14, and the steering device 15. It can also be said that the program stored in the memory 98 causes a computer to execute at least some of the procedures or methods executed by the tracking device 11, the inertial device 12, the transceiver 13, the navigation computer 14, and the steering device 15.

[0056] The memory 98 is, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (registered trademark) (Electrically Erasable Programmable Read-Only Memory), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disk).

[0057] 7 is a diagram showing a processing circuit 99 in the case where at least some of the functions of the tracking device 11, the inertial device 12, the transmitting / receiving device 13, the navigation computer 14, and the steering device 15 of the guidance device 10 according to the embodiment are realized by the processing circuit 99. In other words, at least some of the functions of the tracking device 11, the inertial device 12, the transmitting / receiving device 13, the navigation computer 14, and the steering device 15 of the guidance device 10 according to the embodiment may be realized by the processing circuit 99.

[0058] The processing circuit 99 is dedicated hardware, and may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

[0059] At least some of the functions of the tracking device 11, the inertial device 12, the transceiver device 13, the navigation computer 14 and the steering device 15 may be realized by dedicated hardware separate from the hardware that realizes the remaining functions of the tracking device 11, the inertial device 12, the transceiver device 13, the navigation computer 14 and the steering device 15.

[0060] With regard to the multiple functions possessed by the tracking device 11, the inertial device 12, the transceiver device 13, the navigation computer 14, and the steering device 15, some of the multiple functions may be realized by software or firmware, and the remaining multiple functions may be realized by dedicated hardware. In this way, the multiple functions possessed by the tracking device 11, the inertial device 12, the transceiver device 13, the navigation computer 14, and the steering device 15 can be realized by hardware, software, firmware, or a combination of these.

[0061] Some or all of the functions of the guidance control processing unit 20, the autopilot 21, and the meeting angle offset amount calculation unit 22 of the navigation computer 14 may be realized by a processor or a processing circuit. The processor is a processor similar to the processor 97. The processing circuit is a processing circuit similar to the processing circuit 99.

[0062] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies. Parts of the configurations may be omitted or modified without departing from the spirit of the invention. [Explanation of symbols]

[0063] 1, 1A, 1B flying object, 2 target, 3A, 3B launcher, 5 radar system, 6 fire control system, 10 guidance system, 11 tracking system, 12 inertial system, 13 transmitting / receiving system, 14 navigation computer, 15 steering system, 16 propulsion system, 20 guidance control processing unit, 21 autopilot, 22 meeting angle offset amount calculation unit, 97 processor, 98 memory, 99 processing circuit.

Claims

1. A guidance device included in a flying object, a navigation computer that calculates a steering angle command using a relative distance, a relative speed, a relative angle, and a relative angular speed between the flying object and a target, and a position, a speed, an acceleration, an attitude angle, and an attitude angular speed of the flying object; The navigation computer includes: an angle offset amount calculation unit that calculates an angle offset amount of the flying objects to avoid collision of the flying objects before hitting the target after a plurality of flying objects including the flying object are launched toward the target so as to hit the target; a guidance control processing unit that calculates an acceleration command by adjusting the alignment angle of the flying objects so that the multiple flying objects do not collide with each other, based on the relative distance, relative velocity, relative angle, and relative angular velocity between the flying object and the target, the position, velocity, acceleration, attitude angle, and attitude angular velocity of the flying object, and the alignment angle offset amount calculated by the alignment angle offset amount calculation unit; an autopilot that calculates the steering angle command based on the acceleration command calculated by the induction control processing unit; A guidance device characterized by:

2. the meeting angle offset amount calculation unit calculates a signed approach angle of each of the plurality of flying objects, The signed approach angle of any one of the plurality of flying objects is an angle that a relative position vector between the any one of the flying objects and the target makes with respect to a velocity vector of the target.

2. The guidance device according to claim 1 .

3. The plurality of flying objects are two flying objects, a first equation for calculating the meeting angle offset amount when the signs of the signed approach angles of the two flying objects are different, the signed approach angle of one of the two flying objects is smaller than the signed approach angle of the other of the two flying objects, and the sign of the signed approach angle of the one flying object is positive; a second equation for calculating the meeting angle offset amount when the signs of the signed approach angles of the two flying objects are different, the signed approach angle of one of the two flying objects is smaller than the signed approach angle of the other of the two flying objects, and the sign of the signed approach angle of the one flying object is negative; a third equation for calculating the meeting angle offset amount when the signs of the signed approach angles of the two flying objects are the same, the signed approach angle of one of the two flying objects is smaller than the signed approach angle of the other of the two flying objects, and the sign of the signed approach angle of the one flying object is positive; and a fourth equation for calculating the meeting angle offset amount when the signs of the signed approach angles of the two flying objects are the same, the signed approach angle of one of the two flying objects is smaller than the signed approach angle of the other of the two flying objects, and the sign of the signed approach angle of the one flying object is negative; The meeting angle offset amount calculation unit determining whether the signs of the signed approach angles of the two vehicles are different; determining whether a signed approach angle of one of the two flying objects is less than a signed approach angle of the other of the two flying objects; determining whether the sign of the signed approach angle of the vehicle is positive or negative; When it is determined that the signs of the signed approach angles of the two flying objects are different, the signed approach angle of the flying object is smaller than the signed approach angle of the other flying object, and the sign of the signed approach angle of the flying object is positive, the first equation is used to calculate the meeting angle offset amount of the flying object; When it is determined that the signs of the signed approach angles of the two flying objects are different, the signed approach angle of the flying object is smaller than the signed approach angle of the other flying object, and the sign of the signed approach angle of the flying object is negative, the second equation is used to calculate the meeting angle offset amount of the flying object; When it is determined that the signs of the signed approach angles of the two flying objects are the same, the signed approach angle of the flying object is smaller than the signed approach angle of the other flying object, and the sign of the signed approach angle of the flying object is positive, the third equation is used to calculate the meeting angle offset amount of the flying object; When it is determined that the signs of the signed approach angles of the two flying objects are the same, the signed approach angle of the flying object is smaller than the signed approach angle of the other flying object, and the sign of the signed approach angle of the flying object is negative, the fourth formula is used to calculate the meeting angle offset amount of the flying object.

3. The guidance device according to claim 2.

4. a steering device that guides the flying object based on the rudder angle command calculated based on the meeting angle offset amount calculated by the meeting angle offset amount calculation unit included in the navigation computer; The guidance device according to claim 1 or 2, further comprising:

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