公开(公告)号：WO99039150A1

公开(公告)日：1999-08-05

申请号：PCT/SE1999/000073

申请日：1999-01-20

IPC分类号： F41G7/20 ,  F41G7/22 ,  F42B15/01 ,  G05D1/00 ,  G05D1/10 ,  G05D1/12

CPC分类号： F41G7/2246 ,  F41G7/2206 ,  F41G7/2286 ,  G05D1/12

摘要： The present invention relates to an arrangement (7) in a missile and a method for guiding the said missile towards a moving target, for example an aircraft. The missile has information on its own position, velocity vector and further velocity characteristic and continuously receives information on the position and velocity vector of the target. The arrangement and the method according to the invention are characterised in that a point of interception, at which the missile is expected to strike the target, is calculated from the information on the missile and the target, and that the velocity vector of the missile is directed towards the predicted point of interception. This is continuously predicted on the basis of an assumption as to the further movement of the target and a calculation of the time to impact.

摘要翻译： 本发明涉及一种导弹中的装置（7）以及用于将所述导弹引向移动目标（例如飞行器）的方法。 导弹具有自己的位置信息，速度矢量和进一步的速度特性，并连续接收目标位置和速度矢量信息。 根据本发明的装置和方法的特征在于，从导弹和目标的信息计算导弹预期击中目标的拦截点，导弹的速度矢量是 针对预测的截取点。 这是基于对目标的进一步移动和计算时间的影响的假设而不断预测的。

公开(公告)号：WO9934231A2

公开(公告)日：1999-07-08

申请号：PCT/US9825653

申请日：1998-12-03

申请人： RAYTHEON CO

发明人： WINDHORST ROBERT D ,  SOSINSKI STEPHEN V

IPC分类号： F42B15/01 ,  F42B15/08 ,  G01S13/88 ,  G01S13/94 ,  G05D1/10 ,  G01S

CPC分类号： G05D1/107

摘要： A system (30) for determining a missile kinematic property. The inventive system includes a radar system (36) for obtaining radar range measurements (34). An inertial reference unit (40) tracks changes in missile acceleration without the use of the radar range measurements and provides a signal (38, 42) in response thereto. An altitude Kalman filter (32) and a subtractor circuit (48) are used to combine the signal (38, 42) and the radar range measurements (34) to provide an accurate estimate (50) of the property. In a specific embodiment, the kinematic property includes missile vertical velocity and missile altitude. A radar system (36) supplies radar range information (34) to the Kalman filter (32). A loop (52) from the Kalman filter (32) to the radar system (36) facilitates estimating the radar range measurements (34) when invalid radar range measurements are provided by the radar system (36). The Kalman filter (34) is a two state filter, one state corresponding to missile altitude, and the other state corresponding to missile vertical velocity bias error in the inertial reference unit's (40) velocity measurements (42). In the illustrative embodiment, the Kalman filter (32) combines radar pseudo-measurement estimates of missile altitude with estimates (38) of missile altitude obtained from the inertial reference unit (40) and provides an output signal (46) representative of an accurate missile altitude estimate in response thereto. The Kalman filter (32) includes a velocity bias output (44) which provides an estimate of the error in a velocity measurement (42) obtained from inertial reference unit (40) to the subtractor circuit (48). The subtractor circuit (48) subtracts the estimate (44) of the bias error from the velocity measurement (42) and provides the missile velocity estimate (50) in response thereto.

摘要翻译： 一种用于确定导弹运动特性的系统（30）。 本发明的系统包括用于获得雷达测距（34）的雷达系统（36）。 惯性参考单元（40）跟踪导弹加速度的变化而不使用雷达测距，并且响应于此提供信号（38,42）。 使用高度卡尔曼滤波器（32）和减法器电路（48）来组合信号（38,42）和雷达测距（34）以提供属性的准确估计（50）。 在具体实施例中，运动特性包括导弹垂直速度和导弹高度。 雷达系统（36）将雷达范围信息（34）提供给卡尔曼滤波器（32）。 当雷达系统（36）提供无效雷达测距时，从卡尔曼滤波器（32）到雷达系统（36）的回路（52）有助于估计雷达测距（34）。 卡尔曼滤波器（34）是两个状态滤波器，一个对应于导弹高度的状态，另一个状态对应于惯性参考单元（40）速度测量（42）中的导弹垂直速度偏差误差。 在说明性实施例中，卡尔曼滤波器（32）将导弹高度的雷达伪测量估计与从惯性参考单元（40）获得的导弹高度估计（38）相结合，并提供代表准确导弹的输出信号（46） 对此的高度估计。 卡尔曼滤波器（32）包括速度偏置输出（44），其向从减法器电路（48）提供从惯性参考单元（40）获得的速度测量（42）中的误差估计。 减法器电路（48）从速度测量（42）中减去偏差误差的估计（44），并响应于此导出速度估计（50）。