JP2021099189A - Guidance device and guidance method - Google Patents

Abstract

To provide a guidance device capable of improving a reliability and a guidance method.SOLUTION: A guidance device 100 for guiding a placed movable body to a target comprises: an estimation device 2 for estimating velocity information and position information of the placed movable body; an antenna 1 for capturing a guidance information signal for guiding to the target; a receiver 3 for generating guidance information from the guidance information signal from which a signal component of a Doppler frequency is removed based on the velocity information and the position information; and a controller for controlling to guide the placed movable body to the target based on the guidance information.SELECTED DRAWING: Figure 2

Description

Embodiments of the present invention relate to a guiding device and a guiding method.

An on-board mobile body that moves at high speed, for example, a guidance device attached to a flying body or the like receives a guidance information signal from a signal transmitted via a geostationary satellite from a communication device located on the ground. In this case, the guidance information received by the guidance device is affected by the Doppler effect (hereinafter referred to as the Doppler effect) generated due to the high-speed movement. The guidance information signal may deteriorate due to the influence of this Doppler. Since the guidance device is attached to the mounted moving body, it is desired to reduce the size and weight. Therefore, it is desired to suppress the influence of Doppler without increasing the size.

Japanese Patent No. 5225203 Japanese Patent No. 5398242

James Tsui, “Digital Techniques for Wideband Receivers”, Artech House, pp229-261

An object to be solved by the embodiment of the present invention is to provide a guiding device and a guiding method capable of improving reliability.

The guidance device according to the present embodiment is a guidance device that guides the mounted moving body to the target, and is an estimation device that estimates the speed information and the position information of the mounted moving body, and a guidance for guiding to the target. An antenna that captures an information signal, a receiver that generates guidance information from the guidance information signal from which the signal component of the Doppler frequency is removed based on the speed information and the position information, and the mounted movement based on the guidance information. It is provided with a controller that controls to guide the body to the target.

FIG. 1 is a schematic view showing an example of a guidance device. FIG. 2 is a block diagram showing a configuration example of the guidance device according to the first embodiment. FIG. 3 is a block diagram showing a configuration example of the guidance information receiver shown in FIG. FIG. 4 is a block diagram showing a configuration example of the NCO according to the first embodiment. FIG. 5 is a flowchart showing an example of a method of guiding the mounted moving body according to the first embodiment. FIG. 6 is a block diagram showing a configuration example of the guidance information receiver according to the second embodiment. FIG. 7 is a schematic diagram showing an example of I / Q detection by the CPU (or DSP) when the Doppler frequency is not superimposed on the guidance information signal. FIG. 8 is a schematic diagram showing an example of I / Q detection by the CPU (or DSP) when the Doppler frequency is superimposed on the guidance information signal.

Hereinafter, embodiments will be described with reference to the drawings. The drawings are examples, and do not limit the scope of the invention.
(First Embodiment)
FIG. 1 is a schematic view showing an example of the guidance device 100.
The guidance device (or sometimes referred to as a radar device) 100 is provided on a mounted moving body that moves at high speed, for example, a flying body (hereinafter, may be referred to as a own machine). The guidance device 100 communicates a guidance information signal for guiding an installed mobile body to a target, for example, a target object or a target position, via a geostationary satellite with a communication device located on the ground.

FIG. 2 is a block diagram showing a configuration example of the guidance device 100 according to the first embodiment.
The guidance device 100 includes an antenna 1, a self-position estimation device 2, a guidance information receiver 3, a radio wave seeker 4, a guidance control unit 5, a steering device 6, and the like.

Antenna 1 captures the signal. The antenna 1 captures guidance information signals transmitted from a communication device located on the ground via a geostationary satellite (artificial satellite), for example. The guidance information signal transmitted from the communication device and received by the antenna 1 of the guidance device 100 installed on the mounted moving body is affected by the Doppler effect generated because the mounted moving body is moving at high speed. (Hereafter referred to as Doppler influence). The guidance information signal received by the antenna 1 has a predetermined frequency due to the influence of the Doppler, for example, a frequency obtained by superimposing the frequency due to the influence of the Doppler (hereinafter referred to as the Doppler frequency) on the original frequency when transmitted from the communication device. Have. The antenna 1 outputs the captured signal, for example, the guidance information signal to the guidance information receiver 3. The guidance information signal captured by the antenna 1 has a predetermined frequency when it is not affected by the Doppler, for example, the original frequency when transmitted from a communication device on which the Doppler frequency is not superimposed. You may.

The self-position estimation device 2 estimates the position of the own machine. The self-position estimation device 2 has speed information of its own machine (hereinafter, may be referred to as own-machine speed information or own-machine speed information signal) and own-machine position information (hereinafter, own-machine position information or own-machine position information). (Sometimes called a signal). The self-position estimation device 2 outputs the own-machine speed information signal and the own-machine position information signal to the guidance information receiver 3. The self-position estimation device 2 may be a gyro sensor device that estimates the position of the self-machine with a gyro sensor.

The guidance information receiver 3 receives the signal and executes signal processing on the received signal. For example, the guidance information receiver 3 receives the guidance information signal captured by the antenna 1, and is input from the antenna 1 based on the own speed information signal and the own position information signal input from the self-position estimation device 2. Performs signal processing on the guidance information signal. The guidance information receiver 3 calculates the Doppler frequency based on the own machine speed information signal and the own machine position information signal, and uses the calculated Doppler frequency to obtain the Doppler frequency (or the Doppler frequency) from the frequency of the guidance information signal input from the antenna 1. , The signal component of the Doppler frequency) is removed, and the guidance information signal from which the Doppler frequency has been removed is demolished to generate guidance information. The guidance information receiver 3 outputs the generated guidance information to the guidance control unit 5. The guidance information receiver 3 may demodulate the guidance information signal input from the antenna 1 to generate guidance information, and output the generated guidance information to the guidance control unit 5.

The radio wave seeker 4 detects a target by outputting a radio wave for detecting the target. When the radio wave seeker 4 approaches the target to a distance where the target can be detected by radio waves (hereinafter, may be referred to as a detectable distance), the radio wave seeker 4 measures the angle of the own aircraft with respect to the target by the radio waves, and the target and the own aircraft Measure the distance of. The radio wave seeker 4 generates a guidance signal that guides the own machine to the target at a detectable distance based on the angle of the own machine with respect to the measured target, the target, and the distance of the own machine, and the generated guidance signal is used as the guidance control unit 5. Output to.

The guidance control unit 5 controls the direction of the own machine based on the guidance information and the guidance signal. When the guidance control unit 5 determines that the own machine is located at a short distance from the target, for example, the own machine is located within the detectable distance, the guidance control unit 5 is based on the guidance signal generated by the radio wave seeker 4. Control your own machine. Further, when the guidance control unit 5 determines that the own machine is located at a long distance from the target, for example, when the own machine is located outside the detectable distance, the guidance information generated by the guidance information receiver Control your own machine based on. That is, the guidance control unit 5 transmits a signal transmitted from an external communication device when it determines that the own machine is located at a long distance from the target and when it determines that the own machine is located at a short distance from the target. It is switched between controlling (or guiding) the own machine based on the above and controlling (or guiding) the own machine based on the signal generated by the radio wave seeker 4. For example, when the guidance control unit 5 determines that the own machine is located outside the detectable distance, the guidance control unit 5 steers the own machine to guide the target based on the guidance information input from the guidance information receiver 3. A steering signal for this purpose (hereinafter, may be referred to as a long-distance steering signal) is generated, and the generated long-distance steering signal is output to the steering device 6. Further, for example, when the guidance control unit 5 determines that the own machine is located within the detectable distance, the guidance control unit 5 steers the own machine so as to guide the own machine to the target based on the guidance signal input from the radio wave seeker 4. A steering signal for this purpose (hereinafter, may be referred to as a short-distance steering signal) is generated, and the generated short-distance steering signal is output to the steering device 6.

The steering device 6 steers the aircraft so as to guide it toward the target. The steering device 6 steers the aircraft so as to guide the aircraft toward the target based on a steering signal input from the guidance control unit 5, for example, a long-distance steering signal or a short-distance steering signal.

FIG. 3 is a block diagram showing a configuration example of the guidance information receiver 3 shown in FIG.
The induction information receiver 3 includes a low noise amplifier 30, an image suppression mixer 31, a local oscillator 32, a filter 33, an A / D (analog / digital) converter 34, a clock generator 35, a multiplier 36A, a multiplier 36B, and an NCO. (Numerically controlled oscillator) 37, a digital filter 38, a demodulator circuit 39, and the like are provided. For example, the multiplier 36A, the multiplier 36B, the NCO 37, the digital filter 38, and the demodulation circuit 39 correspond to an FPGA (Field Programmable Gate Array). Further, for example, the multiplier 36A, the multiplier 36B, the digital filter 38, and the demodulation circuit 39 correspond to a detector that executes I / Q detection. The multiplier 36A, the multiplier 36B, and the digital filter 38 may be used as a detector.

The low noise amplifier 30 amplifies the guidance information signal input from the antenna 1, for example, the guidance information signal which is an RF (Radio Frequency) signal, and outputs the amplified guidance information signal to the image suppression mixer 31. The image suppression mixer 31 and the local oscillator 32 frequency-convert the induction information signal input from the low-noise amplifier 30, and transmit the frequency-converted induction information signal, for example, the induction information signal which is an IF (Intermediate Frequency) signal to the filter 33. Output. The filter 33 suppresses an unnecessary waveform in the waveform of the guidance information signal, and outputs the guidance information signal in which the unnecessary waveform is suppressed to the A / D converter 34. The A / D converter 34 converts the guidance information signal input from the filter 33 into a digital signal according to the timing generated by the clock generator 35, for example, the clock frequency, and converts the guidance information signal into a digital signal. Output to the multipliers 36A and 36B.

The NCO 37 generates a digital signal (hereinafter, may be referred to as a digital frequency signal) according to the timing generated by the clock generator 35, for example, the clock frequency. The NCO 37 calculates the angle formed by the own aircraft and the geostationary satellite based on the own aircraft position information signal, and calculates the Doppler frequency based on the calculated angle formed by the own aircraft and the geostationary satellite and the own aircraft speed information signal. The NCO 37 outputs a digital frequency signal corresponding to a frequency obtained by superimposing a Doppler frequency on a digital frequency set as a fixed value for I / Q detection to the multipliers 36A and 36B. The NCO 37 may output a digital frequency signal corresponding to the digital frequency to the multipliers 36A and 36B.

The multipliers 36A and 36B, the digital filter 38, and the demodulation circuit 39 multiply the digital frequency signal input from the NCO 37 by the induction information signal, and suppress the harmonics generated in the induction information signal multiplied by the digital frequency signal. I / Q detection is executed by demodulating the induction information signal with suppressed harmonics.
The multipliers 36A and 36B digitally multiply the induction information signal by the digital frequency signal input from the NCO 37, and input the I / Q signal obtained by digitally multiplying the induction information signal by the digital frequency signal to the digital filter 38. The digital filter 38 suppresses the harmonics of the I / Q signal generated when the multipliers 36A and 36B perform digital multiplication, and outputs the suppressed I / Q signal to the demodulation circuit 39. The demodulation circuit 39 demodulates the I / Q signal to generate an induction signal, and outputs the generated induction signal to the induction control unit 5.

式（１）及び式（２）で示される２つのデジタル信号を乗算器３６Ａ及び３６Ｂで乗算した信号を以下の式（３）及び式（４）で示す。

イメージ周波数は、以下の式で示される。

式（３）及び式（４）に示すように、Ｉ信号及びＱ信号のそれぞれにイメージ周波数が現れる。デジタルフィルタ（ローパスフィルタ）３８によりイメージ周波数を抑圧した式（３）のＩ信号及び式（４）のＱ信号は、それぞれ、以下の式（５）及び式（６）で示される。

I / Q detection using NCO37 when the Doppler frequency is not superimposed on the induction information signal is performed by the following equations (1), (2), (3), (4), (5), And expressed by equation (6).
The digital signal (induction information signal) undersampled by the A / D converter 34 is represented by the following equation (1), and the digital signal (digital frequency signal) output from the NCO 37 to the multipliers 36A and 36B is It is represented by the following equation (2).

The signals obtained by multiplying the two digital signals represented by the formulas (1) and (2) by the multipliers 36A and 36B are shown by the following formulas (3) and (4).

The image frequency is expressed by the following equation.

As shown in the equations (3) and (4), the image frequency appears in each of the I signal and the Q signal. The I signal of the equation (3) and the Q signal of the equation (4) whose image frequency is suppressed by the digital filter (low-pass filter) 38 are represented by the following equations (5) and (6), respectively.

式（７）及び式（８）で示される２つのデジタル信号を乗算器３６Ａ及び３６Ｂで乗算した信号を以下の式（９）及び式（１０）で示す。

式（９）は、式（３）に対応し、式（１０）は、式（４）に対応している。そのため、デジタルフィルタ（ローパスフィルタ）３８によりイメージ周波数を抑圧した式（９）のＩ信号及び式（１０）のＱ信号は、それぞれ、式（５）及び式（６）で示される。式（７）及び式（８）で示されるデジタル信号を式（９）及び式（１０）に示すように乗算してデジタルフィルタ３８によりイメージ周波数を抑圧して検波することで生成（又は算出）したＩ信号及びＱ信号は、ドップラ周波数Δｆを含まない。つまり、式（７）及び式（８）で示されるデジタル信号を式（９）及び式（１０）に示すように乗算して検波することで、式（７）で示されるドップラ周波数Δｆが重畳したデジタル信号（誘導情報信号）のドップラ周波数Δｆを除去できる。 I / Q detection using NCO37 when the Doppler frequency Δf is superimposed on the induction information signal is represented by the following equations (7), (8), (9), and (10). ..
The digital signal (induction information signal) on which the Doppler frequency Δf undersampled by the A / D converter 34 is superimposed is represented by the following equation (7) and is output from the NCO 37 to the multipliers 36A and 36B. The digital signal (digital frequency signal) for removing the above is represented by the following equation (8).

The signals obtained by multiplying the two digital signals represented by the formulas (7) and (8) by the multipliers 36A and 36B are shown by the following formulas (9) and (10).

Equation (9) corresponds to equation (3), and equation (10) corresponds to equation (4). Therefore, the I signal of the equation (9) and the Q signal of the equation (10) whose image frequency is suppressed by the digital filter (low-pass filter) 38 are represented by the equations (5) and (6), respectively. Generated (or calculated) by multiplying the digital signals represented by the equations (7) and (8) as shown in the equations (9) and (10), suppressing the image frequency by the digital filter 38, and detecting the signal. The I signal and the Q signal do not include the Doppler frequency Δf. That is, by multiplying the digital signals represented by the equations (7) and (8) and detecting them as shown by the equations (9) and (10), the Doppler frequency Δf represented by the equation (7) is superimposed. The Doppler frequency Δf of the digital signal (induction information signal) can be removed.

FIG. 4 is a block diagram showing a configuration example of the NCO 37 according to the present embodiment.
The NCO 37 includes a Doppler calculation circuit 41, an arithmetic unit 42, an N-bit full adder 43, a latch circuit 44, an arithmetic unit 45, an arithmetic unit 46, a waveform memory 47, a waveform memory 48, and the like.

ここで、ｖは自機速度（自機速度情報信号）、λは電波波長、βは静止衛星と誘導装置１００と成す角度である。 The Doppler calculation circuit 41 is input with its own speed information signal and its own position information signal. The Doppler calculation circuit 41 calculates the Doppler frequency Δf = ΔX based on the own machine speed information signal and the own machine position information signal, and outputs the calculated Doppler frequency Δf = ΔX to the calculator 42. The Doppler frequency Δf is calculated by the following equation (11).

Here, v is the own speed (own speed information signal), λ is the radio wave wavelength, and β is the angle formed by the geostationary satellite and the guidance device 100.

The arithmetic unit 42 inputs the digital frequency f = X set as a fixed value for I / Q detection and the Doppler frequency Δf = ΔX calculated by the equation (11). The arithmetic unit 42 outputs the combined frequency f + Δf = X + ΔX obtained by adding the Doppler frequency Δf = ΔX to the digital frequency f = X and adding the Doppler frequency Δf = ΔX to the digital frequency f = X to the N-bit full adder 43. The combined frequency f + Δf = X + ΔX and the frequency information (frequency increment value) output from the latch circuit 44 are input to the N-bit full adder 43. The N-bit full adder 43 calculates the frequency increment value Y based on the combined frequency f + Δf = X + ΔX and the frequency information output from the latch circuit 44. The N-bit full adder 43 outputs the frequency increment value Y to the latch circuit 44. The frequency increment value Y and the reference clock fclk are input to the latch circuit 44. The latch circuit 44 outputs the sin component corresponding to the frequency increment value Y corresponding to the reference clock fclk to the arithmetic units 45 and 46. The arithmetic unit 45 is input with the sin component output from the latch circuit 44. The arithmetic unit 45 offsets the phase of the sin component output from the latch circuit 44 by π / 2, converts the sin component output from the latch circuit 44 into a cоs component, and transfers the cоs component to a predetermined address of the waveform memory 47. Record. The waveform memory 47 outputs the cоs component. For example, the waveform memory 47 outputs the cоs component to the multiplier 36A or 36B. The arithmetic unit 46 offsets the phase of the sin component output from the latch circuit 44 by π, converts the sin component output from the latch circuit 44 into a -sin component, and sends the -sin component to a predetermined address of the waveform memory 48. Record. The waveform memory 48 outputs a −sin component. For example, the waveform memory 48 outputs the −sin component to the multiplier 36A or 36B.

FIG. 5 is a flowchart showing an example of a method of guiding the mounted moving body according to the present embodiment.
The guidance device 100 receives a guidance information signal from a signal transmitted from a communication device located on the ground or the like via a geostationary satellite (B501), and estimates its own speed information signal and its own position information signal (S502). .. The guidance device 100 calculates the Doppler frequency based on the own speed information signal and the own position information signal (S503), and removes the Doppler frequency generated by the high-speed movement of the guidance information signal using the calculated Doppler frequency (S503). S504). For example, the guidance device 100 converts the guidance information signal into a digital signal. The guidance device 100 calculates the angle formed by the own aircraft and the geostationary satellite based on the own aircraft position information signal, and calculates the Doppler frequency based on the calculated angle formed by the own aircraft and the geostationary satellite and the own aircraft speed information signal. .. The induction device 100 generates a digital frequency signal corresponding to a frequency obtained by adding the calculated Doppler frequency to the digital frequency set as a fixed value for I / Q detection. The induction device 100 multiplies the induction information signal converted into a digital signal by a digital frequency signal corresponding to the frequency obtained by adding the Doppler frequency to the digital frequency, suppresses the harmonics of the induction information signal multiplied by the digital frequency signal, and harmonics. I / Q detection is executed by demodulating the induction information signal that suppresses the wave. By executing such I / Q detection, the guidance device 100 removes the Doppler influence of the guidance information signal, for example, the Doppler frequency from the frequency of the guidance information signal. The guidance device 100 executes control for guiding the mounted moving object to the target based on the guidance information generated based on the guidance information signal from which the Doppler frequency is removed (S505), and ends the process.

According to the present embodiment, the guidance device 100 is attached to a mounted mobile body that moves at high speed, and captures and receives a guidance information signal from a signal transmitted from a communication device located on the ground or the like via a geostationary satellite. To do. When received by the guidance device 100, the guidance information signal has a frequency in which the Doppler frequency is superimposed on a predetermined frequency due to the influence of the Doppler generated by the moving body to be mounted moving at high speed. The guidance device 100 includes an antenna 1, a self-position estimation device 2, a guidance information receiver 3, a radio wave seeker 4, a guidance control unit 5, and a steering device 6. The antenna 1 captures the guidance information signal from the signal transmitted from the communication device located on the ground or the like, and outputs the guidance information signal to the guidance information receiver 3. The self-position estimation device 2 estimates its own speed information signal and its own position information signal, and outputs them to the guidance information receiver 3. The guidance information receiver 3 removes the Doppler frequency from the frequency of the guidance information signal input from the antenna 1 based on the own machine speed information signal and the own machine position information signal, and the harmonic of the guidance information signal from which the Doppler frequency is removed. Is suppressed, and the induction information signal with suppressed harmonics is demodulated for I / Q detection. The guidance device 100 removes the Doppler frequency from the frequency of the guidance information signal input from the antenna 1 by executing such I / Q detection. The guidance device 100 executes I / Q detection to generate guidance information, and outputs the generated guidance information to the guidance control unit 5.

The induction information receiver 3 includes an A / D converter 34, multipliers 36A and 36B, an NCO 37, a digital filter 38, and a demodulation circuit 39. The A / D converter 34 converts the guidance information signal into a digital signal, and outputs the converted guidance information signal to the multipliers 36A and 36B. The NCO 37 calculates the angle formed by the own aircraft and the geostationary satellite based on the own aircraft position information signal, and calculates the Doppler frequency based on the calculated angle formed by the own aircraft and the geostationary satellite and the own aircraft speed information signal. The NCO37 multiplies the digital frequency signal set as a fixed value for I / Q detection by adding the digital frequency signal calculated based on the angle formed by the own machine and the stationary satellite and the own machine speed information signal to the multiplier 36A. And output to 36B. The multipliers 36A and 36B generate an I / Q signal by multiplying an induction information signal in which the Doppler frequency is superimposed on a predetermined frequency and a digital frequency signal in which the Doppler frequency is superimposed on the digital frequency to generate an I / Q signal, and remove the Doppler frequency component. The / Q signal is input to the digital filter 38. The digital filter 38 suppresses the harmonics of the I / Q signals input from the multipliers 36A and 36B, and outputs the suppressed I / Q signals to the demodulation circuit 39. The demodulation circuit 39 demodulates the I / Q signal to generate guidance information, and outputs the generated guidance information to the guidance control unit 5. The guidance control unit 5 generates a steering signal for controlling the direction of the own machine based on the guidance information, and outputs the generated steering signal to the steering device 6. The steering device 6 steers the aircraft so as to guide the aircraft to the target based on the steering signal. Therefore, the guidance device 100 can suppress the deterioration of the guidance information signal due to the influence of the Doppler. Further, according to the present embodiment, it is possible to reduce the size and weight of the induction device 100 in order to suppress the influence of Doppler by, for example, a digital circuit in the FPGA without using an analog circuit or the like. Therefore, the guidance device 100 can be made smaller and lighter, and its reliability can be improved.

Next, the magnetic disk apparatus according to another embodiment will be described. In another embodiment, the same parts as those in the above-described embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.
(Second Embodiment)
The guidance device 100 according to the second embodiment is the guidance device of the first embodiment described in that the guidance information receiver 3 includes a CPU (Central Processing Unit) {DSP (Digital Signal Processor) or processing device} 300. Different from 100.
FIG. 6 is a block diagram showing a configuration example of the guidance information receiver 3 according to the second embodiment.
The induction information receiver 3 includes a low noise amplifier 30, an image suppression mixer 31, a local oscillator 32, a filter 33, an A / D converter 34, a clock generator 35, a CPU (or DSP) 300, and the like.

The A / D converter 34 converts the guidance information signal input from the filter 33 into a digital signal according to the timing generated by the clock generator 35, and converts the guidance information signal into a digital signal into a CPU (or DSP). Output to 300.

The CPU 300 receives a digitally converted guidance information signal from the A / D converter 34. The CPU (or DSP) 300 executes I / Q detection on the guidance information signal by software. For example, the CPU (or DSP) 300 removes the Doppler frequency from the frequency of the guidance information signal on which the Doppler frequency is superimposed in the I / Q detection by software, and demodulates the guidance information signal from which the Doppler frequency has been removed. The CPU (or DSP) 300 detects I / Q by software and outputs an induction information signal.

FIG. 7 is a schematic diagram showing an example of I / Q detection by the CPU (or DSP) 300 when the Doppler frequency is not superimposed on the guidance information signal. FIG. 7 shows the time axis. In FIG. 7, time elapses as it advances toward the tip of the arrow on the time axis. Further, FIG. 7 shows a frequency axis. In FIG. 7, the frequency increases toward the tip of the arrow on the frequency axis. In other words, the frequency decreases toward the opposite side of the arrow on the frequency axis.

The CPU 300 converts the guidance information signal input from the A / D converter 34 into a data string of 2 to the Nth power, for example, 2048. The CPU 300 executes FFT (Fast Fourier Transform) processing on the guidance information signal of the 2 Nth power data string (P101), and converts the guidance information signal of the 2 Nth power data string from the time domain to the frequency domain. .. Here, the FFT process is executed with the number of FFT points determined according to the number of ranges and the clock frequency in the A / D converter 34, for example, the same sampling frequency as the clock frequency generated in the clock generator 35. .. The CPU 300 executes the block processing of the guidance information signal of the 2 Nth power data string input from the A / D converter 34 by the FFT process.

The CPU 300 executes a 0 (zero) filling process for filling a band (or reception band) required for the frequency component of the induction information signal in the frequency domain, for example, an amplitude other than f1 ± α with 0 (zero) (P102). In other words, the CPU 300 fills the amplitude of an unnecessary component with the frequency component of the guidance information signal in the frequency domain with 0 (zero). For example, the CPU 300 zero-fills the amplitude of the frequency component of the induction information signal, which is a blocked digital signal, other than the passing frequency band.

The CPU 300 executes a frequency shift process that shifts the frequency component of the induction information signal in the frequency domain in which unnecessary components are filled with 0 to the center frequency, for example, the frequency of f1 to the side opposite to the tip side of the arrow on the frequency axis. (P103). For example, the CPU 300 executes the frequency shift process so that the center frequency of the reception band of the frequency component of the guidance information signal that has been subjected to the zero padding process is 0 Hz.

The CPU 300 generates an I / Q signal in the time domain by executing an IFFT (Inverse Fast Fourier Transform: inverse FFT) on the guidance information signal in the frequency domain on which the frequency shift process shown in P103 of FIG. 7 is executed (P104). ).

FIG. 8 is a schematic diagram showing an example of I / Q detection by the CPU (or DSP) 300 when the Doppler frequency is superimposed on the guidance information signal. FIG. 8 shows the time axis. In FIG. 8, the time elapses as it advances toward the tip of the arrow on the time axis. Further, FIG. 8 shows a frequency axis. In FIG. 8, the frequency increases toward the tip of the arrow on the frequency axis. In other words, the frequency decreases toward the opposite side of the arrow on the frequency axis.

The CPU 300 converts the guidance information signal input from the A / D converter 34 into a data string of 2 to the Nth power, for example, 2048. The CPU 300 executes FFT processing on the guidance information signal of the 2 Nth power data string (P201), and converts the guidance information signal of the 2 Nth power data string from the time domain to the frequency domain.

The CPU 300 fills (or suppresses) the reception band in which the Doppler frequency is superimposed on the frequency component of the induction information signal in the frequency domain, for example, the amplitude other than f1 ± α + Δf with 0 (zero) (P202). In other words, the CPU 300 fills (or suppresses) the amplitude of an unnecessary component with the frequency component of the guidance information signal in the frequency domain with 0 (zero). For example, the CPU 300 fills or suppresses the amplitude other than the baseband with 0 in the frequency component of the guidance information signal in the frequency domain. The CPU 300 calculates the Doppler frequency based on, for example, the own speed information signal, the own position information signal, and the above-mentioned equation (11).

The CPU 300 executes a frequency shift process that shifts the frequency component of the induction information signal in the frequency domain in which unnecessary components are filled with 0 to the center frequency + Doppler frequency, for example, f1 + Δf to the side opposite to the tip side of the arrow on the frequency axis. (P203). For example, the CPU 300 executes the frequency shift process so that the center frequency of the reception band in which the Doppler frequency is superimposed on the frequency component of the guidance information signal for which the zero padding process has been executed becomes 0 Hz.

The CPU 300 generates an I / Q signal in the time domain in which the Doppler frequency is removed by executing an IFFT on the guidance information signal in the frequency domain in which the frequency shift process shown in P203 of FIG. 8 is executed (P204).

According to the second embodiment, the guidance information receiver 3 has a CPU (or DSP) 300. The CPU (or DSP) 300 executes I / Q detection on the guidance information signal by software. For example, the CPU (or DSP) 300 removes the Doppler frequency from the frequency of the guidance information signal on which the Doppler frequency is superimposed in the I / Q detection process by software. Therefore, the guidance device 100 can suppress the deterioration of the guidance information signal due to the influence of the Doppler. Further, according to the present embodiment, it is possible to reduce the size and weight of the induction device 100 in order to suppress the influence of Doppler by, for example, a digital circuit in the FPGA without using an analog circuit or the like. Therefore, the guidance device 100 can be made smaller and lighter, and its reliability can be improved.

Although some embodiments have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

1 ... Antenna, 2 ... Self-position estimation device, 3 ... Guidance information receiver, 4 ... Radio wave seeker, 5 ... Guidance control unit, 6 ... Steering device.

Claims (5)

It is a guidance device that guides the mounted moving object to the target.
An estimation device that estimates the speed information and position information of the mounted moving body, and
An antenna that captures the guidance information signal for guiding to the target, and
A receiver that generates guidance information from the guidance information signal from which the signal component of the Doppler frequency is removed based on the speed information and the position information.
A guidance device including a controller that controls to guide the mounted moving body to the target based on the guidance information. The antenna captures the guidance information signal from the transmission signal of the geostationary satellite, and the antenna captures the guidance information signal.
The guidance device according to claim 1, wherein the receiver calculates an angle formed with the geostationary satellite based on the position information, and calculates the Doppler frequency based on the angle and the velocity information. The receiver comprises an oscillator that generates a digital signal in which the Doppler frequency is superimposed on a frequency signal for detecting the guidance information signal, and the guidance information signal multiplied by the digital signal generated by the oscillator. The guidance device according to claim 2, further comprising a detector that detects guidance information. The receiver has a processing device that removes a signal component of the Doppler frequency from the guidance information signal.
The processing device executes FFT processing for converting the guidance information signal into the first signal in the frequency domain, and suppresses an amplitude other than the reception band in which the Doppler frequency is superimposed on the band required for the frequency component of the first signal. The zero-filling process is executed, the shift process for shifting the frequency component of the first signal by the first frequency obtained by adding the Doppler frequency to the center frequency of the reception band is executed, and the shift process is executed. The guidance device according to claim 2, wherein the reverse FFT process for returning one signal to the second signal in the time domain is executed. It is a guidance method applied to a guidance device that guides the mounted moving object to a target.
Estimate the speed information and position information of the mounted moving object,
The guidance information signal for guiding the mounted moving body to the target is captured, and the guidance information signal is captured.
Guidance information is generated from the guidance information signal from which the signal component of the Doppler frequency is removed based on the speed information and the position information.
A guidance method for guiding the mounted moving body to the target based on the guidance information.

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