Induction device

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, it has been considered to launch a projectile having a seeker or a guidance system to hit a high-speed missile and intercept the high-speed missile with the projectile. Hereinafter, the object that the projectile intercepts will be referred to 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 that a missile can hit the target and neutralize it as much as possible.

[0004] One possible method for increasing the probability of projectiles hitting a target is to fire multiple projectiles at 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] Furthermore, as shown in Patent Document 1, for example, a method of destroying a target by using counter-parallel navigation to cause a projectile to hit the target in a head-on collision or near-head-on collision state is also conceivable. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-242105 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 view of the above, and aims to provide a guidance device that enables multiple launched projectiles to intercept a target without causing them to collide. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems and achieve the object, a guidance device according to the present disclosure is a guidance device included in a flying object, and includes a navigation computer that calculates a rudder 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 includes an angle offset calculation unit that calculates an angle offset for a plurality of flying objects, including the flying object, after the flying object has been launched toward a target so as to hit the target and the plurality of flying objects are to avoid collisions between the flying objects before hitting the target. The navigation computer further includes a guidance control processing unit that calculates an acceleration command by adjusting the angle of the flying object to prevent collisions between the flying objects, 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 calculated by the angle offset calculation unit, and an autopilot that calculates a rudder angle command based on the acceleration command calculated by the guidance control processing unit. [Effects of the Invention]

[0010] The guidance device according to the present disclosure has the effect of enabling a target to be intercepted without causing multiple launched projectiles to collide. [Brief explanation of the drawings]

[0011] [Figure 1]A diagram showing two launched missiles intercepting a target [Figure 2] FIG. 1 is a block diagram showing a configuration of a guidance device according to an embodiment. [Figure 3] FIG. 1 is a block diagram showing the configuration of a navigation computer included in a guidance device according to an 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. [Figure 5] 1 is a flowchart showing the procedure of an operation performed by an intersection 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 system 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 system according to an embodiment are realized by the processing circuit. DETAILED DESCRIPTION OF THE INVENTION

[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 an example of multiple flying objects. Flying object 1A has a guidance device that guides the launched flying object 1A to the target 2, and 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, to intercept the target 2 in flight, launcher 3A launches flying object 1A, and launcher 3B launches flying object 1B. One launcher may have both launcher 3A and launcher 3B, or one launcher may have the functions of launcher 3A and launcher 3B and launch flying objects 1A and 1B.

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

[0015] FIG. 2 is a block diagram showing the configuration of a guidance device 10 according to an embodiment. The guidance device 10 is included in each of 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 includes a tracking device 11 that tracks a target 2 and observes or calculates the relative distance, relative velocity, relative angle, relative angular velocity, etc. between the flying object 1 and the target 2, and an inertial device 12 that observes or calculates the position, velocity, acceleration, attitude angle, attitude angular velocity, etc. of the flying object 1. The guidance device 10 further includes 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 the 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 between multiple flying objects, including the flying object 1, before they hit the target 2 after being 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 vehicle 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 vehicle 1. The flying vehicle 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 transceiver 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 transceiver device 13. The transceiver device 13 transmits the information from the navigation computer 14 to the radar system 5. Details of the navigation computer 14 will be described using 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 it flies in a guided manner toward a target 2.

[0021] FIG. 3 is a block diagram showing the configuration of the navigation computer 14 included in the guidance system 10 according to the embodiment. The navigation computer 14 includes a guidance control processor 20, an autopilot 21, and an angle offset calculator 22. The angle offset calculator 22 calculates an angle offset for the flying vehicle 1 to prevent collisions between the flying vehicle 1 and the target 2 after multiple flying vehicles, including the flying vehicle 1, are launched toward the target 2 so as to hit the target 2. The guidance control processor 20 calculates an acceleration command by adjusting the angle of the flying vehicle 1 to prevent collisions between the multiple flying vehicles based on the relative distance, relative velocity, relative angle, and relative angular velocity between the flying vehicle 1 and the target 2, the position, velocity, acceleration, attitude angle, and attitude angular velocity of the flying vehicle 1, and the angle offset calculated by the angle offset calculator 22. The autopilot 21 calculates a rudder angle command based on the acceleration command calculated by the guidance control processor 20. FIG. 3 also shows the tracking device 11, the inertial device 12, and the steering device 15.

[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, they may approach each other and 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 not be included in the navigation computer 14, but may be present in the guidance device 10 as an individual device, or may be included in a device other than the navigation computer 14 among the multiple devices that the guidance device 10 has.

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

[0027] Note that the flying objects to which the meeting angle offset amount is applied may be some or all of the flying objects. In the example of FIG. 1, the flying object to which the meeting angle offset amount is applied may be one or both of the two flying objects 1A, 1B. The flying object to which the meeting angle offset amount is applied is determined based on some or all of the operational concept, simulations, and mock tests. The following describes a case where the multiple flying objects are the two flying objects 1A, 1B shown in FIG. 1 and the meeting angle offset amount is applied to one of the two flying objects 1A, 1B.

[0028] 4 is a diagram for explaining the definitions of symbols used by the meeting angle offset calculation unit 22 of the navigation computer 14 of the guidance system 10 according to the embodiment. It is assumed that a target 2 exists at the origin in a Cartesian coordinate system in which the z-axis points downward. The flying object 1 and the target 2 are indicated by points. As an example, a Cartesian coordinate system is used as the coordinate system, but a coordinate system other than a Cartesian coordinate system may also 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 V t The angle formed by the relative position vector r with respect to the target 2 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 the angle formed by the velocity vector V t The velocity vector V when the start point of the relative position vector r is aligned with the end point of the relative position vector r. t The smaller angle between the line segment of the target 2 and the line segment of the relative position vector r.t is expressed by the following equation (1): The relative position vector r between the flying object 1 and the target 2 is expressed by the following equation (2): The signed approach angle θ will be explained in more detail later.

[0030]

number

[0031]

number

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

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

[0034] The allowable value of the 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 some or all of the operational concept, simulations, and mock tests.

[0035] 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 sake 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 for the signed approach angle θ.

[0036] In step S1, the meeting angle offset calculation unit 22 calculates the signed approach angle θ of each of the two flying bodies 1A, 1B using the following equation (3). Note that, because initial and mid-stage guidance is performed to ensure 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 assumed to be within the allowable range θ' of the meeting angle required for direct hit destruction.

[0037]

number

[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. Of the two flying objects 1A, 1B, the one with the smaller signed approach angle θ is closer to the velocity vector of the target 2. If 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. If 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. Of the two flying objects 1A, 1B, the one with the smaller signed approach angle θ is closer to the velocity vector of the target 2. If 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. If 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 calculation unit 22 calculates the meeting angle offset β using the following equations (4) to (7). In equations (4) to (7), the coefficient α is a value that satisfies 0<α<1, and is determined from some or all of the operational concept, simulations, and mock tests. It is assumed that the meeting angle offset β is applied to one of the two flying vehicles 1A, 1B, and the meeting angle offset β calculated by the meeting angle offset calculation unit 22 for the other flying vehicle is 0.

[0042] In step S5, the meeting angle offset calculation unit 22 of the flying object 1A calculates the signed approach angle θ of the flying object 1A using equation (4). 1A is positive or negative, the meeting angle offset amount β of the flying object 1A is calculated.

[0043]

number

[0044] In step S6, the meeting angle offset calculation unit 22 of the flying object 1B calculates the signed approach angle θ of the flying object 1B using equation (5). 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 calculation unit 22 of the flying object 1A calculates the signed approach angle θ of the flying object 1A using equation (6). 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 calculation unit 22 of the flying object 1B calculates the signed approach angle θ of the flying object 1B using equation (7). 1B is positive or negative, the meeting angle offset amount β of the flying object 1B is calculated.

[0049]

number

[0050] As described above, the signs of the signed approach angles θ of the two flying bodies 1A and 1B are different, and the signed approach angle θ of the flying body 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 bodies 1A and 1B are different, and the signed approach angle θ of the flying body 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 equation (5) is given for calculating the meeting angle offset amount β when the sign of the angle is positive and when it is negative. 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 bodies 1A and 1B are the same, and the signed approach angle θ of the flying body 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 calculation unit 22 determines whether the signs of the signed approach angles θ of the two flying bodies 1A and 1B are different, and calculates the signed approach angle θ of the flying body 1A. 1A is the signed approach angle θ of the missile 1B 1B Determine whether it is smaller than the signed approach angle θ of the flying object 1A. 1A is determined to be positive or negative. In each of the two flying bodies 1A, 1B, the meeting angle offset calculation unit 22 calculates the meeting angle offset 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 the 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 rudder 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] 6 is a diagram showing a processor 97 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 of the guidance system 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 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, 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 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 the execution of 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 may be, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), 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 included in 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 included in the guidance device 10 according to the embodiment may be realized by the processing circuit 99.

[0058] The processing circuitry 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 thereof.

[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, and 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 device, 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 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 comprises: an angle offset calculation unit that calculates an angle offset of the projectiles, after the projectiles including the projectile are launched toward the target so as to hit the target, to prevent the projectiles from colliding with each other before hitting the target; a guidance control processing unit that calculates an acceleration command by adjusting the missiles' meeting angles based on the relative distance, relative velocity, relative angle, and relative angular velocity between the missiles and the target, the position, velocity, acceleration, attitude angle, and attitude angular velocity of the missiles, and the meeting angle offset calculated by the meeting angle offset calculation unit so that the multiple missiles do not collide with each other; an autopilot that calculates the steering angle command based on the acceleration command calculated by the guidance 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 formed by a relative position vector between the any one of the flying objects and the target 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 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 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 flying object is positive; and a fourth equation is provided which is an 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 flying object is negative, The meeting angle offset amount calculation unit determining whether the signs of the signed approach angles of the two flying objects are different; determining whether 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; determining whether the sign of the signed approach angle of the flying object is positive or negative; When it is determined that the signs of the signed approach angles of the two flying objects are different, that the signed approach angle of the flying object is smaller than the signed approach angle of the other flying object, and that the sign of the signed approach angle of the flying object is positive, calculating the meeting angle offset amount of the flying object using the first equation; When it is determined that the signs of the signed approach angles of the two flying objects are different, that the signed approach angle of the flying object is smaller than the signed approach angle of the other flying object, and that 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 equation 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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