Projectile launching device and projectile launching method

Abstract

To provide a missile launching device that enables a missile to reach its target position more accurately even when launched from a ship on the sea.SOLUTION: A device includes a missile launcher, a measurement system, and a control device. The control device includes an arrival position deviation calculation unit and an evaluation unit, an angle deviation calculation unit and an evaluation unit, and a comprehensive deviation evaluation unit. The arrival position deviation calculation unit calculates an arrival position deviation of a missile based on motion parameters of the missile launcher measured by the measurement system and a sensitivity table. The evaluation unit outputs a signal with a truth value of 1 when the arrival position deviation is equal to or less than an allowable value. The angle deviation calculation unit calculates an angle deviation of the missile based on an angular velocity of the missile launcher and a launch delay time measured by the measurement system. The evaluation unit outputs a signal with a truth value of 1 when the angle deviation is equal to or less than the allowable value. The comprehensive deviation evaluation unit outputs a launch command signal to the missile launcher when the truth values of the signals output from both evaluation units are both 1.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] This disclosure relates to a projectile launching device and a projectile launching method. [Background technology]

[0002] When launching a projectile, the projectile launcher must first be set to a state that allows the projectile to reach its target. Specifically, the azimuth and angle of attack of the projectile launcher are set to values ​​that will allow the projectile to reach its target.

[0003] The azimuth and angle of attack settings for the projectile launcher are determined based on a ballistic simulation of the projectile performed in a coordinate system fixed to the Earth (hereinafter referred to as the Earth coordinate system).

[0004] When launching a projectile from the ground, setting the azimuth and angle of attack of the projectile launcher to values ​​based on the ballistic simulation described above will allow the projectile to accurately reach its target.

[0005] On the other hand, when launching projectiles from a ship at sea, problems arise because the ship is constantly swaying due to the effects of waves. In this case, since the projectile launcher is fixed to the ship, its azimuth and angle of attack are angles defined in a coordinate system fixed to the ship (hereinafter referred to as the ship coordinate system). If the ship coordinate system perfectly matches the Earth coordinate system, then, just as when launching from land, setting the azimuth and angle of attack of the projectile launcher to the values ​​based on the ballistic simulation described above will allow the projectile to reach the target position accurately.

[0006] However, while perfect agreement between the ship coordinate system and the Earth coordinate system can occur momentarily, a discrepancy usually exists between the two coordinate systems. Therefore, even if the azimuth and angle of attack of a projectile launcher, as defined in the ship coordinate system, are set to values ​​based on ballistic simulations performed in the Earth coordinate system, it is not possible to accurately reach the target position of the projectile due to the aforementioned discrepancy.

[0007] To address these problems, Patent Document 1 proposes a technique that includes means for detecting the angle of misalignment between the ship's coordinate system and the Earth's coordinate system, and corrects the azimuth and angle of attack of the projectile launcher based on the detected misalignment, so that the projectile can accurately reach the target position even when launched from a ship at sea. [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] Japanese Patent Application Publication No. 1-312398 [Overview of the project] [Problems that the invention aims to solve]

[0009] In the technology disclosed in Patent Document 1, the only factor considered for correcting the azimuth and angle of attack of the projectile launcher, with the aim of accurately reaching the target position of the projectile, is the angle of difference between the ship coordinate system and the Earth coordinate system.

[0010] However, even when not being propelled by its propulsion system, a ship equipped with a projectile launcher will move in translational motion across the sea due to the influence of ocean currents and / or tidal currents, causing its position and speed to change moment by moment. If a projectile is launched without considering these changes in the ship's position and speed due to translational motion, the projectile will end up arriving at a position that is off from its target by that amount.

[0011] Furthermore, since some time elapses between the launcher receiving the launch command signal and the projectile leaving the launcher and beginning its flight, if the ship is rocking during this time, this can cause further deviations in the azimuth and angle of attack. Even if the projectile is launched without considering these further deviations in azimuth and angle of attack, it will still end up landing at a position that is off-target by that amount.

[0012] This disclosure has been made in view of the above-mentioned problems, and aims to provide a projectile launcher and a projectile launching method that can enable the projectile to reach the target position more accurately, even when launched from a ship at sea. [Means for solving the problem]

[0013] To solve the above problems, a projectile launcher according to a first aspect of the present disclosure comprises a projectile launcher, a measurement system for measuring a plurality of motion parameters of the projectile launcher, including angular velocity, and a control device configured to output a launch command signal to the projectile launcher when predetermined conditions are met based on the motion parameters measured by the measurement system, wherein the control device comprises a destination position deviation calculation unit and a destination position deviation evaluation unit, an angle deviation calculation unit and an angle deviation evaluation unit, and a comprehensive deviation evaluation unit, wherein the destination position deviation calculation unit calculates the destination position deviation of the projectile based on a sensitivity table in which the relationship between the deviation of each motion parameter and the deviation of the destination position of the projectile caused by that deviation is recorded in correspondence, and the motion parameters measured by the measurement system, and the destination The position deviation evaluation unit is configured to output a signal with truth value 1 when the arrival position deviation calculated by the arrival position deviation calculation unit is less than or equal to the maximum allowable arrival position deviation; the angle deviation calculation unit calculates the angle deviation of the projectile caused by the launch delay time based on the angular velocity measured by the measurement system and the launch delay time specific to the combination of the projectile launcher and the projectile; the angle deviation evaluation unit is configured to output a signal with truth value 1 when the angle deviation calculated by the angle deviation calculation unit is less than or equal to the maximum allowable angle deviation; and the overall deviation evaluation unit is configured to output the launch command signal when the truth value of the signal output from the arrival position deviation evaluation unit and the truth value of the signal output from the angle deviation evaluation unit are both 1.

[0014] In a projectile launcher according to a second aspect of the present disclosure, the plurality of motion parameters include the position and velocity of the projectile launcher, and the plurality of motion parameters are measured with reference to a coordinate system fixed to the Earth.

[0015] A projectile launch method according to a first aspect of this disclosure includes the following steps: (a) A step of preparing a sensitivity table in which the relationship between the deviation of each of several motion parameters of the projectile launcher, including angular velocity, from a reference value and the arrival position deviation, which is the deviation of the projectile's arrival position from a reference arrival position resulting from the said deviation, is recorded. (b) Step of measuring the plurality of motion parameters (c) A step of calculating the actual arrival position deviation, which is the deviation of the actual arrival position of the flying object from the reference arrival position, based on the sensitivity table and the actual deviation, which is the deviation of the measured motion parameters from the reference value. (d) A step of calculating the angular deviation of the projectile caused by the launch delay time, based on the measured angular velocity and the launch delay time specific to the combination of the projectile launcher and the projectile. (e) A step to determine whether the calculated actual reach position deviation is less than or equal to the maximum allowable reach position deviation. (f) A step to determine whether the calculated angular deviation is less than or equal to the maximum allowable angular deviation. (g) If the results of the determination in steps (e) and (f) are both true, the step of commanding the projectile launcher to launch the projectile.

[0016] In a projectile launch method according to a second aspect of the present disclosure, the plurality of motion parameters include the position and velocity of the projectile launcher, and the plurality of motion parameters are measured with reference to a coordinate system fixed to the Earth. [Effects of the Invention]

[0017] According to this disclosure, even when launched from a ship at sea, it is possible to achieve the superior effect of making the projectile reach the target position more accurately. [Brief explanation of the drawing]

[0018] [Figure 1] This is a block diagram showing a projectile launcher according to an embodiment of the disclosure. [Modes for carrying out the invention]

[0019] The embodiments of this disclosure will be described in detail below with reference to the drawings.

[0020] Figure 1 is a block diagram showing a projectile launcher according to an embodiment of the present disclosure.

[0021] The projectile launcher 1 comprises a projectile launcher 10 and a control device 20.

[0022] The projectile launcher 10, although not shown in the diagram, includes a base configured to rotate around a vertical axis and a launch tube (or launch platform) configured to rotate vertically relative to the base when the projectile is housed within it. The rotation of the base around the vertical axis adjusts the azimuth angle at the time of launch of the projectile, and the rotation of the launch tube vertically relative to the base adjusts the angle of attack at the time of launch of the projectile.

[0023] The projectile launcher 10 is equipped with a measurement system 15. The measurement system 15 is configured to measure the following motion parameters (multiple motion parameters) of the projectile launcher 10. (1) Launcher position These are the position X in the X direction and the position Y in the Y direction of the projectile launcher 10. Here, the X and Y directions are the east-west and north-south directions, respectively, in a coordinate system fixed to the Earth (Earth coordinate system). (2) Launcher speed These are the X-direction (same as above) component Vx and the Y-direction (same as above) component Vy of the velocity of the projectile launcher 10. (3) Launcher angular velocity The angular velocity ω of the rotational motion of the projectile launcher 10 around its roll axis (an axis extending in a first direction on the horizontal plane), pitch axis (an axis extending in a second direction perpendicular to the first direction on the horizontal plane), and yaw axis (vertical axis). R , ω P , ω Y These angular velocities are measured relative to the Earth's coordinate system. (4) Launcher angle These are the azimuth angle θ and angle of attack φ of the projectile launcher 10. These angles are defined in a coordinate system (ship coordinate system) fixed to the projectile launcher 10, and therefore to the ship (not shown) on which the projectile launcher 1 is mounted.

[0024] The measurement system 15 can be, for example, a GPS / INS combined system. A GPS / INS combined system is a system consisting of GPS (Global Positioning System) and INS (Inertial Navigation System). In this case, of the motion parameters (1) to (4) above, motion parameters (1) and (2) are measured by GPS, and motion parameters (3) and (4) are measured by INS.

[0025] Furthermore, the measurement system 15 is not limited to a GPS / INS combined system, but can be any system as long as it can measure the above-mentioned motion parameters (1) to (4).

[0026] The measurement system 15 outputs the measured motion parameters to the arrival position deviation calculation unit 21 and the angle deviation calculation unit 23 of the control device 20, which will be described later.

[0027] The control device 20 includes a target position deviation calculation unit 21 and a target position deviation evaluation unit 22, an angle deviation calculation unit 23 and an angle deviation evaluation unit 24, and a comprehensive deviation evaluation unit 25. As will be described later, it is configured to perform calculations and evaluations based on motion parameters input from the measurement system 15, and to output a launch command signal L to the projectile launcher 10 when predetermined conditions are met.

[0028] Furthermore, the control device 20 also has the function of operating the base and launch tube of the projectile launcher 10 so that the measured values ​​of the motion parameters (launcher angle; azimuth angle θ and angle of attack φ of the projectile launcher 10) input from the measurement system 15 match the set values ​​(i.e., values ​​determined based on a ballistic simulation of the projectile performed in the Earth coordinate system that will cause the projectile to reach the target position).

[0029] The arrival position deviation calculation unit 21 uses the measured values ​​of the motion parameters input from the measurement system 15 of the projectile launcher 10 to calculate the arrival position deviation, that is, the deviation between the arrival position of the projectile and the reference arrival position described later.

[0030] The calculation of the arrival position deviation is performed based on a sensitivity table stored in a memory device (not shown) within the arrival position deviation calculation unit 21.

[0031] The sensitivity table is created based on the results of a pre-conducted ballistic simulation of the projectile. For this ballistic simulation, a reference value is set for each of the aforementioned motion parameters. The ballistic simulation is then performed under the condition that all motion parameters are equal to their respective reference values, and the projectile's arrival position (reference arrival position) is calculated. Next, for each motion parameter, the ballistic simulation is performed assuming a deviation between that motion parameter and its reference value, and the projectile's arrival position is calculated. Finally, for each motion parameter, the assumed deviation and the deviation between the projectile's arrival position and the reference arrival position (i.e., the arrival position deviation) are recorded in the sensitivity table in a corresponding manner.

[0032] For example, the motion parameter P i The reference value is P i,r And all motion parameters P i (i=1~n) are the respective reference values ​​P i,r The projectile's landing position (reference landing position), calculated by a ballistic simulation performed under the condition that it is equal to (X r, Y r ) Suppose it was so. Also, for each of i = 1 to n, the motion parameter P i value is P i,r + ΔP i (ΔP i : deviation), the arrival position of the flying object calculated by the ballistic simulation performed as such is (X r + ΔX i , Y r + ΔY i ) Suppose it was so. In this case, in the sensitivity table, for each of the motion parameters P i (i = 1 to n), the assumed deviation ΔP i and the arrival position deviation (ΔX i , ΔY i ) are recorded in a state of being associated with each other.

[0033] According to the above-described sensitivity table, when the motion parameter P i deviates from the reference value P i,r by ΔP i , it can be seen that the flying object reaches a position deviated by (ΔX i (i = 1 to n) is equal to the respective reference values P i,r from the reference arrival position realized when all the motion parameters P i , ΔY i ).

[0034] The arrival position deviation calculation unit 21 first calculates the deviation (actual deviation) ΔP i,m (i = 1 to n) of the measured value P of the motion parameter input from the measurement system 15 and the reference value P i,r (i = 1 to n) of each motion parameter recorded in the sensitivity table, based on the following formula (1) for each of i = 1 to n. i,a ΔP i,a = P i,m - P i,r (i = 1 to n) (1)

[0035] Next, the arrival position deviation calculation unit 21 uses the deviation ΔP i recorded in the sensitivity table and the arrival position deviation (ΔX i , ΔYi Based on the relationship between ( ), the deviation between the actual arrival position of the projectile and the reference arrival position (actual arrival position deviation) (ΔX) is calculated using the following equations (2-1) and (2-2). a ΔY a Calculate ). ΔX a =Σ[(ΔP i,a / ΔP i )×ΔX i (2-1) ΔY a =Σ[(ΔP i,a / ΔP i ) × ΔY i (2-2) However, although not explicitly stated, the summation (Σ) in equations (2-1) and (2-2) is taken for i=1 to n.

[0036] The actual arrival position deviation (ΔX) calculated in the arrival position deviation calculation unit 21 a ΔY a The output is sent to the arrival position deviation evaluation unit 22.

[0037] The arrival position deviation evaluation unit 22 calculates the actual arrival position deviation (ΔX a ΔY a The absolute value of ) is the maximum allowable deviation of the actual reach position (ΔX a,max ΔY a,max We evaluate whether the following conditions are met, i.e., whether equations (3-1) and (3-2) are satisfied (where ΔX a,max >0, ΔY a,max (>0) |ΔX a |≦ΔX a,max (3-1) |ΔY a |≦ΔY a,max (3-2) If both equations (3-1) and (3-2) are satisfied, the arrival position deviation evaluation unit 22 outputs a signal with a truth value of 1 (true) to the overall deviation evaluation unit 25. If at least one of equations (3-1) and (3-2) is not satisfied, the arrival position deviation evaluation unit 22 outputs a signal with a truth value of 0 (false) to the overall deviation evaluation unit 25.

[0038] Next, the angle deviation calculation unit 23 calculates the angle deviation (Δθ R , Δθ P , Δθ Y ) based on the measured values of the launcher angular velocities (ω R , ω P , ω Y ) input from the measurement system 15 according to the following equations (4-1) to (4-3). Δθ R = ω R × (T c + T k ) (4-1) Δθ P = ω P × (T c + T k ) (4-2) Δθ Y = ω Y × (T c + T k ) (4-3)

[0039] Here, T c is the time required from when the projectile launcher 10 receives the launch command signal L until the ignition of the propellant of the projectile, and T k is the time required from the ignition of the propellant of the projectile until the projectile leaves the launch tube and starts flying. Both are constants specific to the combination of the projectile and the projectile launcher 10. That is, (T c + T k ) is the delay time (launch delay time) from the reception of the launch command signal L until the projectile leaves the launch tube and starts flying. Therefore, the angle deviation (Δθ R , Δθ P , Δθ Y ) is the deviation of the angle caused by the swing of the projectile launcher 10 during the launch delay time (T c + T k ) (that is, when ω R , ω P , ω Y is not zero).

[0040] The angle deviation (Δθ R , Δθ P , Δθ Y) is output to the angle deviation evaluation unit 24.

[0041] The angle deviation evaluation unit 24 evaluates whether the absolute value of the angle deviation (Δθ R , Δθ P , Δθ Y ) is less than or equal to the maximum allowable angle deviation value (Δθ R,max , Δθ P,max , Δθ Y,max ), that is, whether the following equations (5-1) to (5-3) are satisfied (where Δθ R,max > 0, Δθ P,max > 0, Δθ Y,max > 0). |Δθ R | ≤ Δθ R,max (5-1) |Δθ P | ≤ Δθ P,max (5-2) |Δθ Y | ≤ Δθ Y,max (5-3) And when all of the equations (5-1) to (5-3) are satisfied, the angle deviation evaluation unit 24 outputs a signal with a truth value of 1 (true) to the deviation comprehensive evaluation unit 25. When at least one of the equations (5-1) to (5-3) is not satisfied, the angle deviation evaluation unit 24 outputs a signal with a truth value of 0 (false) to the deviation comprehensive evaluation unit 25.

[0042] As described above, the signals output from the reaching position deviation evaluation unit 22 and the angle deviation evaluation unit 24 respectively are input to the deviation comprehensive evaluation unit 25. The deviation comprehensive evaluation unit 25 is substantially configured as a logical product (AND) operation circuit, and outputs a launch command signal L to the flying body launcher 10 only when the truth values of the signals input from the reaching position deviation evaluation unit 22 and the truth values of the signals input from the angle deviation evaluation unit 24 are both 1 (true). When at least one of the truth values of the signals input from the reaching position deviation evaluation unit 22 and the truth values of the signals input from the angle deviation evaluation unit 24 is 0 (false), the deviation comprehensive evaluation unit 25 does not output a launch command signal L to the flying body launcher 10.

[0043] Thus, the launch command signal L is output to the projectile launcher 10 only when both the absolute value of the deviation in the target position due to the motion of the projectile launcher 10 and the absolute value of the angular deviation due to the launch delay time of the projectile from the projectile launcher 10 are below the maximum allowable value. As a result, the projectile launcher 1 of this embodiment of the disclosure has the excellent effect of enabling the projectile to reach the target position more accurately, even when launched from a ship at sea.

[0044] The projectile launching method using the projectile launcher 1 in the embodiment of this disclosure includes the following steps. (a) A step of preparing a sensitivity table in which the relationship between the deviation of each of several motion parameters of the projectile launcher, including angular velocity, from a reference value and the arrival position deviation, which is the deviation of the projectile's arrival position from a reference arrival position resulting from the said deviation, is recorded. (b) A step of measuring several motion parameters of a projectile launcher, including angular velocity. (c) A step of calculating the actual arrival position deviation, which is the deviation of the actual arrival position of the flying object from the reference arrival position, based on the sensitivity table and the actual deviation, which is the deviation of the measured motion parameters from the reference value. (d) A step of calculating the angular deviation of the projectile due to the launch delay time, based on the measured angular velocity and the launch delay time specific to the combination of the projectile launcher and the projectile. (e) A step to determine whether the calculated actual reach position deviation is less than or equal to the maximum allowable reach position deviation. (f) A step to determine whether the calculated angular deviation is less than or equal to the maximum allowable angular deviation. (g) If the results of the determinations in steps (e) and (f) are both true, the step of commanding the projectile launcher to launch the projectile.

[0045] The embodiments of this disclosure are not limited to those described above. For example, the control device 20 may be configured to include only a reach position deviation calculation unit 21 and a reach position deviation evaluation unit 22, and the reach position deviation evaluation unit 22 may output a launch command signal L to the projectile launcher 10 only when the actual reach position deviation calculated by the reach position deviation calculation unit 21 is less than or equal to the maximum allowable reach position deviation. Similarly, the control device 20 may be configured to include only an angle deviation calculation unit 23 and an angle deviation evaluation unit 24, and the angle deviation evaluation unit 24 may output a launch command signal L to the projectile launcher 10 only when the angle deviation calculated by the angle deviation calculation unit 23 is less than or equal to the maximum allowable angle deviation. [Explanation of symbols]

[0046] 1. Projectile launcher 10. Projectile launchers 15 Measurement System 20 Control device 21 Arrived position deviation calculation section 22. Evaluation unit for arrival position deviation 23 Angle deviation calculation unit 24 Angle deviation evaluation unit 25. Overall Evaluation Department

Claims

1. A projectile launcher, A measurement system for measuring multiple motion parameters of the projectile launcher, including angular velocity, A control device configured to output a launch command signal to the projectile launcher when predetermined conditions are met, based on the motion parameters measured by the measurement system, A projectile launcher equipped with, The control device is A unit for calculating the deviation of the arrival position and a unit for evaluating the deviation of the arrival position, Angle deviation calculation unit and angle deviation evaluation unit, The Department of Comprehensive Evaluation of Deviations, Equipped with, The arrival position deviation calculation unit calculates the arrival position deviation of the flying object based on a sensitivity table in which the relationship between the deviation of each of the motion parameters and the deviation of the arrival position of the flying object caused by that deviation is recorded, and the motion parameters measured by the measurement system. The arrival position deviation evaluation unit is configured to output a signal of truth value 1 when the arrival position deviation calculated by the arrival position deviation calculation unit is less than or equal to the maximum allowable arrival position deviation. The angle deviation calculation unit calculates the angle deviation of the projectile caused by the launch delay time, based on the angular velocity measured by the measurement system and the launch delay time specific to the combination of the projectile launcher and the projectile. The angle deviation evaluation unit is configured to output a signal of truth value 1 when the angle deviation calculated by the angle deviation calculation unit is less than or equal to the maximum allowable angle deviation. A projectile launcher, wherein the overall deviation evaluation unit is configured to output the launch command signal when the truth value of the signal output from the arrival position deviation evaluation unit and the truth value of the signal output from the angle deviation evaluation unit are both 1.

2. The aforementioned multiple motion parameters include the position and velocity of the projectile launcher, The aforementioned multiple motion parameters are measured relative to a coordinate system fixed to the Earth. A projectile launcher according to claim 1, characterized in that

3. A projectile launch method including the following steps. (a) A step of preparing a sensitivity table in which the relationship between the deviation of each of several motion parameters of the projectile launcher, including angular velocity, from a reference value and the arrival position deviation, which is the deviation of the projectile's arrival position from a reference arrival position resulting from the said deviation, is recorded. (b) Step of measuring the plurality of motion parameters (c) A step of calculating the actual arrival position deviation, which is the deviation of the actual arrival position of the flying object from the reference arrival position, based on the sensitivity table and the actual deviation, which is the deviation of the measured motion parameters from the reference value. (d) A step of calculating the angular deviation of the projectile caused by the launch delay time, based on the measured angular velocity and the launch delay time specific to the combination of the projectile launcher and the projectile. (e) A step to determine whether the calculated actual reach position deviation is less than or equal to the maximum allowable reach position deviation. (f) A step of determining whether the calculated angular deviation is less than or equal to the maximum allowable angular deviation. (g) If the determination results in steps (e) and (f) are both true, the step of commanding the projectile launcher to launch the projectile.

4. The aforementioned multiple motion parameters include the position and velocity of the projectile launcher, The aforementioned multiple motion parameters are measured relative to a coordinate system fixed to the Earth. A method for launching a projectile according to claim 3, characterized in that it is the method for launching a projectile according to claim 3.

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