Method and apparatus for guiding flight of counter-projectile on basis of beamformed radio signal of radar
Patent Information
- Application Number
- PCT/KR2026/004198
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-06-19
- Filing Date
- 2026-03-16
- Publication Date
- 2026-10-01
Smart Images
Figure KR2026004198_01102026_PF_FP_ABST
Abstract
Description
Method and apparatus for flight guidance of a counter-projectile based on beamformed radio signals of a radar
[0001] The disclosed embodiments relate to a flight guidance method and apparatus, and more specifically, to a flight guidance method and apparatus for a counter-projectile based on a beamformed radio signal of a radar.
[0002] Due to the development of various aerial weapons such as attack drones and guided missiles, the frequency of aerial attacks against ground military equipment like tanks and self-propelled artillery, as well as naval military equipment like ships, is increasing. In particular, as drones have emerged as a highly efficient and low-cost offensive method, aerial attacks utilizing drones are becoming increasingly active in the battlefield.
[0003] Due to these changes in battlefield conditions, establishing efficient air defense systems for various ground and maritime military equipment is becoming critical. Early air defense systems primarily utilized methods of forming a firing line in the direction from which airborne weapons intended for interception were approaching. Additionally, jamming techniques or capture equipment were employed to block the movement of targets such as drones.
[0004] However, as mentioned above, targets such as drones or guided missiles do not simply fly along a pre-set path; they are configured to change their path during flight according to control commands continuously issued via radio signals, and their electronic warfare countermeasure capabilities, such as jamming, have been enhanced. Therefore, there are limitations in that it is difficult to intercept targets using methods such as forming a fire network, using capture equipment, or employing jamming techniques. To overcome these limitations, most current air defense systems intercept flying weapons by launching counter-projectiles, such as suicide drones or counter-missiles, and controlling the launched counter-projectiles to fly toward the target, so that when they approach the target, the counter-projectiles self-destruct and explode along with the target.
[0005] However, for a counter-projectile to fly toward a target, various devices are required to control its flight. As a typical example, the counter-projectile could be configured to be directly equipped with radar to actively search for and track flying weapons. However, given the large size and high cost of the counter-projectile, it is not easy to equip it with radar and high-performance processors for tracking.
[0006] Consequently, most countermeasure projectiles equipped with military equipment are not configured to directly search for and track targets. Instead, they are configured to intercept targets by flying toward the target and detonating in accordance with the transmitted control signal, once the military equipment searches for and confirms the target's location and sends a control signal containing the location information via wireless communication. In other words, they are configured to track and intercept targets under the control of the military equipment. If a countermeasure projectile is configured to intercept targets under the control of military equipment, it does not require expensive equipment such as radar or high-performance processors; however, it must be equipped with a communication module to receive control signals transmitted wirelessly from the military equipment, as well as an IMU (Inertial Measurement Unit) and GPS (Global Positioning System) receiver to move to the location based on the position information contained in the control signal. Although communication modules, IMUs, and GPS are less expensive than radar, equipping a countermeasure projectile with such multiple devices still requires significant costs, and there are issues regarding increased design and manufacturing costs. Furthermore, countermeasure projectiles such as drones often require manual operation by skilled users, presenting a limitation that makes efficient operation difficult during wartime.
[0007] The purpose of the disclosed embodiments is to provide a flight guidance method and apparatus that enable a counter-projectile to efficiently intercept a target at low cost.
[0008] The purpose of the disclosed embodiments is to provide a flight guidance method and apparatus controlled by a beamformed radio signal of a radar operated in military equipment to search for a target.
[0009] A flight guidance method according to an embodiment is a flight guidance method for a counter-projectile launched from military equipment in response to a target, comprising: a step of launching the counter-projectile from the military equipment when a target is detected through a radar of the military equipment; a step of receiving a beam formed and radiated by the radar in separate areas through a monopulse antenna positioned toward the rear of the counter-projectile and divided into four areas; a step of analyzing a signal included in the beam received in separate areas; and a step of controlling the counter-projectile to fly in a direction according to the beam received in each area if a guidance signal is included in the received beam.
[0010] The step of analyzing the above signal can demodulate the signal modulated and included in the received beam to distinguish and identify the beam for searching the target, the beam containing the guidance signal, and the beam containing the self-destruct signal.
[0011] The step of controlling the flight above can intercept the target by self-destructing the corresponding projectile if the received beam contains a self-destruct signal.
[0012] The step of analyzing the above signal may ignore the received beam if the received beam does not contain the induction signal or self-destruct signal.
[0013] The step of controlling the flight above determines an elevation angle based on the difference between the sum of the beam intensities received in the upper two areas of the four areas and the sum of the beam intensities received in the lower two areas, and determines an azimuth angle based on the difference between the sum of the beam intensities received in the left two areas of the four areas and the sum of the beam intensities received in the right two areas, and can adjust the flight direction of the corresponding projectile according to the determined elevation angle and azimuth angle.
[0014] A flight guidance method according to an embodiment is a flight guidance method for a counter-projectile of military equipment that launches a counter-projectile in response to a target, comprising the steps of: searching for the target using a radar and launching the counter-projectile when the target is detected; detecting the launched counter-projectile using the radar and confirming the relative position of the counter-projectile relative to the position of the target; determining the direction of movement for the counter-projectile to fly toward the target based on the confirmed relative position; and forming a beam radiated by a monopulse antenna positioned toward the rear of the counter-projectile and divided into four regions using the radar, wherein the beam is formed differently according to the direction of movement so that the counter-projectile, whose flight direction is adjusted according to the difference in beam intensity received in the four regions, flies toward the target.
[0015] According to an embodiment, the flight guidance device comprises a memory and a processor connected to the memory, and in the flight guidance device provided in a counter-projectile launched from military equipment in response to a target, the processor performs the steps of: launching the counter-projectile from the military equipment when a target is detected through the radar of the military equipment; receiving a beam beam formed and radiated from the radar by separating it into four regions through a monopulse antenna positioned toward the rear of the counter-projectile and divided into four regions; analyzing a signal included in the beam received by separating it into regions; and, if a guidance signal is included in the received beam, controlling the counter-projectile to fly in a direction according to the beam received by region.
[0016] Accordingly, the flight guidance method and device according to the embodiment are controlled by a beamformed radio signal of a radar operated in military equipment to search for a target, thereby enabling a counter-projectile to efficiently intercept a target at low cost.
[0017] FIG. 1 is a drawing illustrating a concept in which military equipment according to one embodiment guides the flight of a counter-projectile in response to a target.
[0018] Figure 2 shows an example of the detailed structure of the monopulse antenna of the corresponding projectile of Figure 1.
[0019] Figure 3 is a diagram illustrating the method by which a counter-projectile detects a beam emitted from a radar.
[0020] Figure 4 shows the schematic configuration of a counter-projectile flight guidance device equipped in the military equipment of Figure 1.
[0021] Figure 5 shows a schematic configuration of a flight guidance device equipped on the corresponding projectile of Figure 1.
[0022] Figure 6 shows an example of a pattern in which a beam radiated from a radar is received in a separated area of a monopulse antenna.
[0023] Figure 7 is a diagram illustrating the method by which the military equipment of Figure 1 guides the flight of a counter-projectile to intercept a target.
[0024] FIGS. 8 and 9 illustrate a flight guidance method according to one embodiment.
[0025] FIG. 10 is a drawing for illustrating a computing environment including a computing device according to one embodiment.
[0026] Hereinafter, specific embodiments according to the embodiments of the present disclosure will be described with reference to the drawings. The following detailed description is provided to facilitate a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, this is merely illustrative and the present invention is not limited thereto.
[0027] In describing the embodiments of the present disclosure, detailed descriptions of known technology related to the present invention are omitted if it is determined that such detailed descriptions would unnecessarily obscure the essence of the embodiments. Furthermore, the terms described below are defined with consideration of their functions in the present invention, and these may vary depending on the intentions or practices of the user or operator. Therefore, such definitions should be based on the content throughout this specification. Terms used in the detailed description are intended merely to describe specific embodiments and should not be limiting. Unless explicitly stated otherwise, expressions in the singular form include the meaning of the plural form. In this description, expressions such as “include” or “comprising” are intended to refer to certain characteristics, numbers, steps, actions, elements, parts thereof, or combinations thereof, and should not be interpreted to exclude the existence or possibility of one or more other characteristics, numbers, steps, actions, elements, parts thereof, or combinations thereof other than those described. Additionally, terms such as “...part,” “...unit,” “module,” and “block” described in the specification refer to a unit that processes at least one function or operation, and this may be implemented in hardware, software, or a combination of hardware and software.
[0028] FIG. 1 is a drawing for explaining the concept of military equipment according to one embodiment guiding the flight of a counter-projectile in response to a target, FIG. 2 shows an example of the detailed structure of a monopulse antenna of the counter-projectile of FIG. 1, and FIG. 3 is a drawing for explaining the method of the counter-projectile detecting a beam radiated from a radar.
[0029] Referring to FIG. 1, military equipment (10) of one embodiment may include an equipment body (11), a radar (12), and a launcher (13). The equipment body (11) is equipment configured to perform operations according to the design purpose of the military equipment (10). Here, a tank is illustrated as an example, but other than a tank, ground military equipment such as a self-propelled gun, a truck, or an armored vehicle may be implemented as the equipment body (11), and in some cases, a fixed gun emplacement or a missile launcher that cannot move may also be implemented as the equipment body (11). In addition, various naval military equipment such as a destroyer, a frigate, or a fast attack craft may be implemented as the equipment body (11).
[0030] The radar (12) is equipped on the equipment body (11) to detect the target (20) and the counter-projectile (30). At this time, the target (20) is an object that the equipment body (11) must strike, and may refer to enemy military equipment. The target (20) is mostly the equipment body of enemy military equipment, but in some cases, it may be a flying weapon launched from enemy military equipment and flying to strike itself. Here, the explanation assumes that the target (20) is a flying weapon flying toward it to strike itself.
[0031] In one embodiment, the radar (12) can be implemented as an Active Electronically Scanned Array (hereinafter AESA) radar, as shown in FIG. 3. The AESA radar is a radar that detects a target (20) or a counter-projectile (30) by forming beams (b1, b2, b3) by beamforming a radiated radio signal, and includes an array antenna in which a plurality of radiating elements (14) are arranged to receive a feed signal independently. The AESA radar can form a single or multiple beams by adjusting the frequency, signal strength, and phase of the feed signal applied to the plurality of radiating elements (14) in various ways, and can also independently control the direction in which each formed beam is radiated, that is, the direction of the beam's orientation, differently from one another.
[0032] The radar (12) can form a beam by beamforming a radiated radio signal and detect an object located in the direction in which the beam is formed by analyzing a signal received after the radiated radio signal is reflected. The radar (12) can detect an object located within a certain angle range by scanning the direction in which the beam is formed and adjusting the direction of the beam according to the position change of the detected object.
[0033] And the radar (12) can analyze the received signal to distinguish and detect not only the target (20) but also the counter-projectile (30) launched from the launcher (13). Here, the radar (12) detects both the target (20) and the counter-projectile (30) together in order to confirm the relative position so that the counter-projectile (30) can fly toward the target (20).
[0034] Additionally, the radar (12) can perform modulation so that various radio signals are included in the formed beam. When forming the beam, the radar (12) may include a signal modulated according to a Pulse Code Modulation (PCM) method, for example, in the radio signal. Since the method of modulating the radio signal to include various signals according to the beamforming technique in an AESA radar is a known technology, it is not described in detail here. In particular, in one embodiment, the radar (12) forms a beam not only to detect a target (20) or a counter-projectile (30) but also to induce the flight of the counter-projectile (30) and control its operation. Accordingly, to distinguish between the beam formed for detection and the beam for controlling the flight and operation of the counter-projectile (30), the beam may be formed using a radio signal that includes different signals.
[0035] For example, the radar (12) may form a beam containing a guidance signal to guide the flight of the counter-projectile (30) and a beam containing a self-destruct signal to self-destruct the counter-projectile (30). Additionally, the radar (12) may include a detection signal in the beam formed to detect the target (20) or the counter-projectile (30). Furthermore, to distinguish between the beam for detecting the target (20) and the beam for detecting the counter-projectile (30), the radar (12) may form different beams by distinguishing between the target detection signal and the projectile detection signal. However, the radar (12) may also distinguish between the beam for detecting the target (20) and the beam for detecting the counter-projectile (30) by making the frequency or phase of the radio signal forming the beam different.
[0036] However, including a guidance signal or a self-destruct signal in the beam is merely to allow the counter-projectile (30) to recognize that the beam is formed to control flight and operation, and the radar (12) can detect the target (20) or the counter-projectile (30) even from the beam formed to include the guidance signal or the self-destruct signal. Therefore, after the counter-projectile (30) is detected, the radar (12) can control the flight direction of the counter-projectile (30) using the beam containing the guidance signal and simultaneously detect the changed position of the counter-projectile (30) without separately forming a beam to detect the counter-projectile (30).
[0037] The launcher (13) is equipped with a counter-projectile (30) that is launched when a target (20) is detected by the radar (12). The launcher (13) acts as a support so that the counter-projectile (30) can fly toward the air during the initial launch phase, and in some cases, the launch angle may be adjusted so that the counter-projectile (30) is launched toward the direction of the target (20) detected by the radar (12).
[0038] Here, the radar (12) and the launcher (13) can be controlled by a flight guidance device (not shown) provided within the military equipment (10). A detailed description of the flight guidance device provided within the military equipment (10) will be provided later.
[0039] Meanwhile, the counter-projectile (30) is initially launched and flies in a direction designated by the launcher (13), and subsequently flies in a direction guided by a beam (B2, b3) radiated from a radar (12) equipped in military equipment (10). As shown in FIG. 2, the counter-projectile (30) of one embodiment is positioned facing the rear and is equipped with a monopulse antenna (31) divided into four regions (A to D) by being divided vertically and horizontally. At least one antenna element (32) is placed in each of the four regions (A to D). Accordingly, the monopulse antenna (31) can independently detect beams received in the four regions (A to D). At this time, as shown in FIG. 6, the monopulse antenna (31) can form a receiving beam that receives a beam radiated from the radar (12) by arranging a plurality of antenna elements (32) in each of the four regions (A to D), and the receiving beam formed at this time can be formed so as not to overlap each other as much as possible.
[0040] The counter-projectile (30) can analyze the beam received in each divided area of the monopulse antenna (31) by the flight guidance device provided inside, and the flight of the counter-projectile (30) can be controlled according to the analysis result. Specifically, the flight guidance device of the counter-projectile (30) can adjust the direction of movement of the counter-projectile (30) based on the difference in beam intensity received in the four divided areas (A to D) of the monopulse antenna (31). That is, the flight guidance device can guide the flight of the counter-projectile (30) so that it flies along the direction in which the radar (12) of the military equipment (10) forms a beam. At this time, the flight guidance device can control the counter-projectile (30) so that it is guided in the direction in which the beam is formed and flies toward the target (20) only when the beam received by the monopulse antenna (31) contains a modulated guidance signal, so that the flight direction is not guided by the beam formed by the radar (12) to detect and track the target (20) or the counter-projectile (30). As shown in the example of FIG. 3, the flight guidance device of the counter-projectile (30) can be configured to fly toward the target (20) by concentrating the beam formed by the radar (12) in area A (A) among the four separated areas (A to D) when the beam is received in that area A.
[0041] Additionally, the flight guidance device can cause the counter-projectile (30) to self-destruct and explode together with the target (20) if the beam received by the monopulse antenna (31) contains a self-destruct signal.
[0042] Figure 4 shows the schematic configuration of a counter-projectile flight guidance device equipped in the military equipment of Figure 1.
[0043] Referring to FIG. 4, the flight guidance device for a counter-projectile equipped in military equipment (10) may include a radar control module (41), a received signal analysis module (42), a beam direction determination module (43), a beam setting module (44), and a signal modulation module (45).
[0044] The radar control module (41) controls the operation of the radar (12) of the military equipment (10) so that the radar (12) forms a beam. The radar control module (41) transmits a signal applied from the radar signal modulation module (47) to the radiation element (14) of the radar (12), and the radar (12) radiates a radio signal according to the transmitted signal to form a beam. At this time, as described above, the radar (12) can form a beam with a directed direction adjusted according to the transmitted signal, and can also form multiple beams having independent directed directions. Then, the signal received by the radar (12) after the beam formed by the radio signal is reflected by an object is transmitted to the received signal analysis module (42).
[0045] The received signal analysis module (42) analyzes the received signal received by the reflection of the radiated beam to determine whether a target (20) or a counter-projectile (30) is detected. If the received signal analysis module (42) detects a target (20) or a counter-projectile (30) from the analyzed received signal, it transmits the location information of the detected target (20) and counter-projectile (30) to the beam direction determination module (43). At this time, the received signal analysis module (42) can detect the target (20) and the counter-projectile (30) separately and obtain location information of each of the target (20) and the counter-projectile (30).
[0046] The beam direction determination module (43) periodically adjusts and determines the direction in which the beam should be formed so that the radar (12) can detect objects by scanning within an angle range according to a designated search range when the target (20) or counter-projectile (30) is not detected. Accordingly, the radar (12) continuously searches for objects located within the search range. And when the target (20) is detected, the beam direction determination module (43) can determine the direction of the beam to track changes in the position of the target (20).
[0047] Additionally, when the target (20) or the counter-projectile (30) is detected and the location information of the target (20) and the location of the counter-projectile (30) are confirmed, the beam direction determination module (43) confirms the relative position of the counter-projectile (30) relative to the location of the target (20), and determines the direction of movement to move the counter-projectile (30) toward the target (20) based on the confirmed relative position. Then, the beam direction is determined such that the beam formed by the radar (12) is formed in a direction tilted toward the direction of movement determined from the current location of the counter-projectile (30). At this time, the beam formed according to the determined beam direction is determined to be skewed toward the direction of movement within the range received by the monopulse antenna (31) of the counter-projectile (30). For example, as shown in FIG. 3, the monopulse antenna (31) must be able to detect a beam formed by the radar (12) by overlapping with at least one of the four receiving beams formed in each of the four regions (A to D) of the monopulse antenna (31), and the direction of the beam can be determined so that a more concentrated beam is detected in the direction where the target (20) is located among the four regions (A to D) (here, as an example, region A).
[0048] In addition, when a target (20) is detected by the received signal analysis module (42), the beam direction determination module (43) can transmit a launch signal to the counter-projectile (30) deployed on the launcher (13) so that the counter-projectile (30) is launched. At this time, the beam direction determination module (43) can also transmit an initial flight direction to the counter-projectile (30). Furthermore, if the launcher (13) is configured to control the launch direction of the counter-projectile (30), the beam direction determination module (43) can also transmit launch direction information to the launcher (13) so that the launcher (13) launches the counter-projectile (30) in the direction according to the launch direction information.
[0049] A flight guidance device equipped in military equipment (10) controls a radar (12) to form a beam to search for a target (20), and when the target (20) is detected, transmits a launch signal to a counter-projectile (30) so that the counter-projectile (30) is launched from a launcher (13). Then, the launched counter-projectile (30) is detected. At this time, the beam used to detect the counter-projectile (30) may be the same beam as the beam formed to detect the target (20), but they may also be different beams. For example, the flight guidance device may form a beam in which the direction of radiation from the radar (12) changes over time, and use the same formed beam to detect and track both the target (20) and the counter-projectile (30), but the radar (12) may also form a beam for detecting and tracking the target (20) and a beam for detecting and tracking the counter-projectile (30) separately. That is, the radar (12) may form multiple different beams to individually detect and track the target (20) and the corresponding projectile (30).
[0050] Additionally, the beam direction determination module (43) can determine whether a self-destruct signal should be included in the beam radiated from the radar (12) to the monopulse antenna (31) of the counter-projectile (30) when the position of the counter-projectile (30) is determined to be within a reference distance from the target (20) based on the relative position of the counter-projectile (30) relative to the position of the target (20).
[0051] The beam setting module (44) generates a beam forming signal to be transmitted to the radiating element (14) of the radar (12) so that the beam is formed in the direction determined by the beam direction determining module (43). Then, the signal modulation module (45) modulates the guidance signal or the self-destruct signal into the beam formed according to whether it is a beam to guide the flight of the counter-projectile (30) or a beam to command the self-destruction of the counter-projectile (30). The signal modulation module (45) can modulate the guidance signal or the self-destruct signal into the beam according to the PCM method. Additionally, depending on the case, the beam setting module (44) can perform modulation so that a detection signal is included in the beam to detect the target (20) or the counter-projectile (30), and can modulate so that the target detection signal included in the beam to detect the target (20) and the projectile detection signal included in the beam to detect the counter-projectile (30) are distinguished and included in the beam.
[0052] Accordingly, the radar control module (41) controls the radar (12) so that a beam is formed according to the signal modulated and applied by the signal modulation module (45).
[0053] FIG. 5 shows a schematic configuration of a flight guidance device equipped on a corresponding projectile of FIG. 1, and FIG. 6 shows an example of a pattern in which a beam radiated from a radar is received in a separated area of a monopulse antenna.
[0054] Referring to FIG. 5, the flight guidance device equipped in the corresponding projectile may include a received signal analysis module (51), a region-specific beam analysis module (52), a flight control module (53), and an explosion control module (54).
[0055] The receiving signal analysis module (51) demodulates the radio signal forming the beam received by the monopulse antenna (31) and detects the signal included in the radio signal. As described above, the radar (12) of the military equipment (10) can generate a radio signal by modulating a guidance signal, a self-destruct signal, or a detection signal using a PCM method, and can form a beam by beamforming the generated radio signal. Accordingly, the receiving signal analysis module (51) can detect the guidance signal, self-destruct signal, or detection signal included in the beam by demodulating the radio signal forming the beam received by the monopulse antenna (31). At this time, the receiving signal analysis module (51) can detect the signal included from the beam detected in at least one area regardless of the four distinct areas (A to D) of the monopulse antenna (31).
[0056] When an inductive signal is detected in the beam received by the receiving signal analysis module (51), the region-specific beam analysis module (52) separates and analyzes the beam received into each of the four regions (A to D) of the monopulse antenna (31).
[0057] As described above, the flight guidance device of the military equipment (10) can use a radar (12) to identify the positions of the target (20) and the counter-projectile (30), and guide the flight of the counter-projectile (30) by forming a beam that is offset from the current position of the counter-projectile (30) toward the target (20) according to the identified positions. If the target (20) is located in front of the counter-projectile (30), the radar (12) can form a beam concentrated at the center of the monopulse antenna (31) as shown in (a) of FIG. 6. However, if the target (20) is located in the forward right direction or in the forward lower direction of the counter-projectile (30), a beam concentrated to the right or lower side of the monopulse antenna (31) can be formed as shown in (b) and (c). Additionally, if the target (20) is located in the forward upper right direction of the corresponding projectile (30), a beam concentrated on the upper right side of the monopulse antenna (31) can be formed as in (d).
[0058] The beam analysis module (52) for each region analyzes the beam received in each of the four distinct regions (A to D) of the monopulse antenna (31), and, for example, can analyze the intensity of the beam received in each region (A to D).
[0059] The flight control module (53) determines the flight direction based on the beam strength of each region analyzed by the region-specific beam analysis module (52), and controls the corresponding projectile (30) to fly in the determined flight direction. At this time, the flight control module (53) can determine the elevation (ΔEL) based on the difference ((A + B) - (C + D)) between the sum of the beam strengths (A + B) received in the upper two regions (A, B) among the four regions (A ~ D) and the sum of the beam strengths (C + D) received in the lower two regions (C, D). And the azimuth (ΔAZ) can be determined based on the difference ((A + D) - (B + C)) between the sum of the beam strengths (A + D) received in the left two regions (A, D) among the four regions (A ~ D) and the sum of the beam strengths (B + C) received in the right two regions (B, C). Specifically, by considering the sum (SUM) of the beam intensities received in four regions (A to D), the elevation angle (ΔEL) can be calculated as ΔEL = [(A + B) - (C + D)] / SUM, and the azimuth angle (ΔAZ) can be calculated as ΔAZ = [(A + D) - (B + C)] / SUM. Then, the flight direction of the corresponding projectile can be controlled to be adjusted according to the determined elevation angle (ΔEL) and azimuth angle (ΔAZ).
[0060] Meanwhile, the explosion control module (54) enables the counter-projectile (30) to self-destruct and explode together with the target (20) when a self-destruct signal is detected in the beam received by the reception signal analysis module (51), thereby allowing the target (20) to be intercepted.
[0061] Figure 7 is a diagram illustrating the method by which the military equipment of Figure 1 guides the flight of a counter-projectile to intercept a target.
[0062] Referring to FIG. 7, military equipment (10) in one embodiment first searches for a target using radar (12) (①). Then, it tracks the location where the detected target (20) is moving (②). At the same time, it launches a counter-projectile (30) (③) and tracks the location of the launched counter-projectile (30) (④). Once the locations of the target (20) and the counter-projectile (30) are confirmed through tracking, the relative location of the counter-projectile (30) relative to the location of the target (20) is determined, and the direction of movement is determined so that the counter-projectile (30) moves toward the target (20). By forming a beam of the radar (12) so that it is received at the determined direction of movement at a monopulse antenna (31) positioned at the rear of the counter-projectile (30), the flight of the counter-projectile (30) is induced (⑤). At this time, the beam formed includes a guidance signal in the PCM modulation method so that the counter-projectile (30) is not guided to fly by the beam used to track the target (20). Subsequently, while continuously tracking the position of the target (20), the flight of the counter-projectile (30) is guided by the guidance beam formed by the radar (12) so that the counter-projectile (30) approaches the target (20) (⑥). Then, if the distance between the target (20) and the counter-projectile (30) according to their relative positions is within a reference distance, the beam radiated by the monopulse antenna (31) is modulated to include a self-destruct signal, and the counter-projectile (30) self-destructs according to the self-destruct signal detected in the beam received by the monopulse antenna (31) to intercept the target (20).
[0063] Consequently, the counter-projectile (30) of one embodiment, unlike conventional ones, is not equipped with a communication module, IMU, or GPU, but is not only guided to fly toward the target (20) by a beam emitted from a radar (12) equipped in military equipment (10) to search for the target, but can also self-destruct to intercept the target (20). Therefore, the target (20) can be intercepted efficiently at low cost.
[0064] In the illustrated embodiments, each component may have different functions and capabilities in addition to those described above and may include additional components not described. Additionally, in one embodiment, each component may be implemented using one or more physically separated devices, or by one or more processors or a combination of one or more processors and software, and may not be clearly distinguished in specific operation as in the illustrated examples.
[0065] And the flight guidance device illustrated in FIGS. 4 and 5 may be implemented in a logic circuit by hardware, firmware, software, or a combination thereof, and may also be implemented using a general-purpose or specific-purpose computer. The device may be implemented using a hardwired device, a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), etc. Additionally, the device may be implemented as a system on chip (SoC) including one or more processors and controllers.
[0066] In addition, the flight guidance device may be installed in the form of software, hardware, or a combination thereof on a computing device or server equipped with hardware elements. A computing device or server may refer to various devices that include, in whole or in part, communication devices such as communication modems for communicating with various devices or wired / wireless communication networks, memory for storing data for executing programs, and microprocessors for executing programs to perform calculations and commands.
[0067] FIGS. 8 and 9 illustrate a flight guidance method according to one embodiment.
[0068] FIG. 8 illustrates a flight guidance method for a counter-projectile (30) of military equipment (10) that fires a counter-projectile (30) in response to a target using radar (12), and FIG. 9 illustrates a flight guidance method for a counter-projectile (30) fired from military equipment (10) in response to a target (20).
[0069] Referring to FIG. 8, the flight guidance method for a counter-projectile of military equipment (10) first uses a radar (12) to beamform a radio signal radiated so that an object is searched in a scanning manner within an angle range according to a designated search range, thereby forming a beam (71). At this time, the direction in which the beam is formed can be adjusted periodically. Then, it is determined whether a target (20) is detected by the formed beam (72). If a target (20) is detected, a launch signal is generated to launch a counter-projectile to intercept the detected target (73). Subsequently, the counter-projectile (30) is detected using the radar (12) (74). At this time, the radar (12) can independently generate the beam for searching the target (20) and the beam for searching the counter-projectile (30) by separately setting the frequency or the signal included in the modulation to be different from each other. However, the beam for searching for the target (20) and the beam for searching for the corresponding projectile (30) may not be separated, and beams may be formed that alternately face different positions in time.
[0070] Then, the location of the detected target (20) and the location of the detected counter-projectile (30) are confirmed, the relative location of the counter-projectile (30) relative to the location of the target (20) is confirmed, and it is determined whether the counter-projectile (30) is located within a reference distance from the target (20) from the confirmed relative location (75). If it is determined that the counter-projectile (30) is not close to the target (20), the direction of movement for the counter-projectile (30) to fly toward the target (20) is determined based on the confirmed relative location (76). Then, the radar (12) forms a beam through beamforming that is directed toward the monopulse antenna (31) which is positioned toward the rear of the counter-projectile (30) and divided into four regions (A to D) according to the determined direction of movement (77). At this time, the radar (12) forms a beam differently according to the determined direction of movement so that the counter-projectile (30), whose flight direction is adjusted according to the difference in beam intensity received in four regions (A to D), flies toward the target (20). Specifically, the beam is formed so that it is skewed in the direction of movement within the range received by the monopulse antenna (31) of the counter-projectile (30). In addition, a guidance signal is included as a radio signal in the beam formed by modulating it in a PCM manner so that the counter-projectile (30) can recognize that it is a beam formed for flight guidance.
[0071] At this time, the radar (12) can continuously track the position of the counter-projection (30) by receiving a signal reflected from the counter-projection (30) that is formed to guide the flight of the counter-projection (30).
[0072] However, when it is determined that the counter-projectile (30) is close to the target (20), a beam is formed in the direction of the counter-projectile (30) through beamforming, and a self-destruct signal is modulated and included in the beam formed to cause the counter-projectile (30) to self-destruct (78). Upon receiving the beam containing the self-destruct signal, the counter-projectile (30) self-destructs and intercepts the target (20).
[0073] Referring to FIG. 9, the flight guidance method of the counter-projectile (30) first controls the initial flight of the counter-projectile (30) launched according to the launch signal transmitted when the military equipment (10) detects the target (20) through the radar (12) (81). At this time, the counter-projectile (30) can be launched from the launcher (13) of the military equipment (10) and can be controlled to fly in the direction of the location of the target (20) detected by the radar (12). It is determined whether the beam radiated by the radar (12) of the military equipment (10) is detected by the monopulse antenna positioned toward the rear of the counter-projectile (30) and divided into four regions (A to D) (82). If the beam is detected, the detected beam is demodulated and the signal contained in the beam is analyzed (83). Then, it is determined whether the signal contained in the beam is a guidance signal to guide the flight of the counter-projectile (30) (84). If it is determined to be a guided signal, the signal strength received in each of the four separated regions (A to D) is analyzed (85). Then, the direction of movement of the corresponding projectile (30) is determined based on the analyzed signal strength in each region (86). For example, the elevation angle (ΔEL) can be determined based on the difference ((A + B) - (C + D)) between the sum of the beam strengths received in the upper two regions (A, B) among the four regions (A to D) and the sum of the beam strengths received in the lower two regions (C, D) and the sum of the beam strengths received in the lower two regions (C, D), and the azimuth angle (ΔAZ) can be determined based on the difference ((A + D) - (B + C)) between the sum of the beam strengths received in the left two regions (A, D) among the four regions (A to D) and the sum of the beam strengths received in the right two regions (B, C). When the direction of movement is determined, the corresponding projectile (30) is controlled to fly in the determined direction of movement (87).
[0074] Meanwhile, if the signal included in the beam is not a guidance signal intended to guide the flight of the counter-projectile (30), it is determined whether it is a self-destruct signal (88). If it is not a self-destruct signal, it is determined again whether the beam emitted by the radar (12) is detected (82). However, if it is determined to be a self-destruct signal, the counter-projectile (30) is controlled to self-destruct (89). When the military equipment (10) determines that the counter-projectile (30) is close to the target (20), it includes a self-destruct signal in the beam, and the counter-projectile (30) self-destructs, causing the target (20) to explode along with it, thereby intercepting the target (20).
[0075] Although FIGS. 8 and 9 describe the respective processes as being executed sequentially, this is merely an illustrative description, and a person skilled in the art can apply various modifications and variations by changing the order described in FIGS. 8 and 9, executing one or more processes in parallel, or adding other processes, without departing from the essential characteristics of the embodiments of the present invention.
[0076] FIG. 10 is a drawing for illustrating a computing environment including a computing device according to one embodiment.
[0077] In the illustrated embodiments, each component may have different functions and capabilities in addition to those described below, and may include additional components in addition to those described below. The illustrated computing environment (90) may include a computing device (91) to perform the flight guidance method illustrated in FIGS. 8 and FIGS. 9. In one embodiment, the computing device (91) may be one or more components included in the flight guidance device illustrated in FIGS. 4 and FIGS. 5.
[0078] A computing device (91) includes at least one processor (92), a computer-readable storage medium (93), and a communication bus (95). The processor (92) may enable the computing device (91) to operate according to the exemplary embodiment described above. For example, the processor (92) may execute one or more programs (94) stored in the computer-readable storage medium (93). The one or more programs (94) may include one or more computer-executable instructions, and the computer-executable instructions may be configured to enable the computing device (91) to perform operations according to the exemplary embodiment when executed by the processor (92).
[0079] The communication bus (95) interconnects various other components of the computing device (91), including the processor (92) and the computer-readable storage medium (93).
[0080] The computing device (91) may also include one or more input / output interfaces (96) and one or more communication interfaces (97) that provide an interface for one or more input / output devices (98). The input / output interfaces (96) and communication interfaces (97) are connected to a communication bus (95). The input / output devices (98) may be connected to other components of the computing device (91) through the input / output interfaces (96). An exemplary input / output device (98) may include an input device such as a pointing device (such as a mouse or trackpad), a keyboard, a touch input device (such as a touchpad or touchscreen), a voice or sound input device, various types of sensor devices and / or imaging devices, and / or an output device such as a display device, a printer, a speaker and / or a network card. An exemplary input / output device (98) may be included inside the computing device (91) as a component constituting the computing device (91), or it may be connected to the computing device (91) as a separate device distinct from the computing device (91).
[0081] Although the present invention has been described in detail above through representative embodiments, those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the true technical scope of protection of the present invention should be determined by the technical concept of the appended claims.
Claims
1. A flight guidance method for a counter-projectile launched from military equipment in response to a target, A step of launching a counter-projectile from the military equipment when a target is detected through the radar of the military equipment; A step of receiving a beam formed by beamforming a radio wave signal radiated from the radar, separated by each divided area, through a monopulse antenna positioned toward the rear of the corresponding projectile and divided into four areas; A step of analyzing radio signals included in beams received and separated by region; and A flight guidance method comprising the step of controlling the corresponding projectile to fly in a direction according to the received beam in each region if the received radio signal includes a guidance signal.
2. In paragraph 1, the step of analyzing the signal A flight guidance method that demodulates the radio signal modulated and included in the received beam to distinguish and identify the beam for searching the target, the beam containing the guidance signal, and the beam containing the self-destruct signal.
3. In paragraph 1, the step of controlling to fly A flight guidance method for intercepting the target by self-destructing the corresponding projectile if the received beam contains a self-destruct signal.
4. In paragraph 1, the step of analyzing the signal A flight guidance method that ignores the received beam if the received beam does not contain the guidance signal or self-destruct signal.
5. In paragraph 1, the step of controlling to fly The elevation angle is determined based on the difference between the sum of the beam intensities received in the upper two regions and the sum of the beam intensities received in the lower two regions among the four regions above, and The azimuth angle is determined based on the difference between the sum of the beam intensities received in the two left regions and the sum of the beam intensities received in the two right regions among the four regions mentioned above, and A flight guidance method for adjusting the flight direction of the corresponding projectile according to the determined elevation angle and azimuth angle.
6. In any one of paragraphs 1 to 5, the flight guidance method A flight guidance method performed by the processor of a corresponding projectile including a memory and a processor.
7. A flight guidance method for a counter-projectile of military equipment that fires a counter-projectile in response to a target, A step of searching for the target using radar, and firing the counter-projectile when the target is detected; A step of detecting the launched counter-projectile using the radar and determining the relative position of the counter-projectile relative to the position of the target; A step of determining the direction of movement for the corresponding projectile to fly toward the target direction based on the confirmed relative position; and The method includes the step of using the radar to form a beam radiated by a monopulse antenna positioned toward the rear of the counter-projectile and divided into four regions, wherein A flight guidance method that forms a beam differently according to the direction of movement so that the corresponding projectile, whose flight direction is adjusted according to the difference in beam intensity received in the four areas above, flies toward the target.
8. In claim 7, the step of forming the beam The above radar distinguishes between a beam radiated by a monopulse antenna to control the direction of movement of the counter-projectile and a beam radiated to search for the target or the counter-projectile, and A flight guidance method that modulates and radiates a beam to include a guidance signal for controlling the direction of movement.
9. In claim 7, the step of forming the beam A flight guidance method in which, when it is determined that the position of the corresponding projectile from the above relative position is within a reference distance from the target, the beam radiated from the radar to the monopulse antenna is modulated to include a self-destruct signal for the corresponding projectile and radiated.
10. In claim 7, the step of radiating with the monopulse antenna A flight guidance method for detecting and tracking the target or the counter projectile by analyzing signals received from the target or the counter projectile, including a beam radiated to search for the target or the counter projectile, as well as a beam radiated to control the direction of movement of the counter projectile.
11. In claim 7, the step of forming the beam A flight guidance method for alternately forming a beam for detecting the above-mentioned counter-projectile, a beam for detecting the above-mentioned target, and a beam radiated by the above-mentioned monopulse antenna in a temporally separated manner.
12. In claim 7, the step of forming the beam A flight guidance method for simultaneously forming a beam for detecting the above-mentioned counter-projectile, a beam for detecting the above-mentioned target, and a beam radiated by the above-mentioned monopulse antenna independently of each other.
13. In Clause 12, the step of confirming the relative position above A flight guidance method for forming a beam for detecting the corresponding projectile in the above radar by setting the frequency or included signal of the beam for detecting the target differently.
14. In any one of paragraphs 7 through 13, the flight guidance method A flight guidance method performed by the processor of military equipment including memory and a processor.
15. A flight guidance device equipped in a counter-projectile launched from military equipment in response to a target, comprising a memory and a processor connected to said memory, The above processor A step of launching a counter-projectile from the military equipment when a target is detected through the radar of the military equipment; A step of receiving a beam formed by beamforming a radio wave signal radiated from the radar, separated by each divided area, through a monopulse antenna positioned toward the rear of the corresponding projectile and divided into four areas; A step of analyzing radio signals included in beams received and separated by region; and A flight guidance device that performs the step of controlling the corresponding projectile to fly in a direction according to the received beam in each region if the received radio signal includes a guidance signal.
16. In paragraph 15, the above processor A flight guidance device that demodulates the radio signal modulated and included in the received beam to distinguish and identify the beam for searching the target, the beam containing the guidance signal, and the beam containing the self-destruct signal.
17. In paragraph 15, the above processor A flight guidance device that intercepts the target by self-destructing the corresponding projectile if the received beam contains a self-destruct signal.
18. In paragraph 15, the above processor A flight guidance device that ignores the received beam if the received beam does not contain the guidance signal or self-destruct signal.
19. In paragraph 15, the above processor The elevation angle is determined based on the difference between the sum of the beam intensities received in the upper two regions and the sum of the beam intensities received in the lower two regions among the four regions above, and The azimuth angle is determined based on the difference between the sum of the beam intensities received in the two left regions and the sum of the beam intensities received in the two right regions among the four regions mentioned above, and A flight guidance device that controls the flight direction of the corresponding projectile according to the determined elevation angle and azimuth angle.