JP4325797B2 - Flying object positioning device - Google Patents

Description

  The present invention relates to a flying object positioning device used for detecting the position of a flying object using GPS.

  The GPS (Global Positioning System) is a system that receives signals from a plurality of GPS satellites and detects its own position, and is used for positioning of various mobile objects such as aircraft, ships, and vehicles, and for geodetic and surveying. It has been. In addition, signals from GPS satellites are modulated by two types of signals called precision positioning P-code and coarse positioning C / A code, and the coarse positioning C / A code is open for general use. Has been.

Further, as a method for improving the positioning accuracy using the C / A code, there is a differential GPS (hereinafter referred to as “DGPS”). This DGPS receives signals from a plurality of GPS satellites and a signal from a base station such as a wireless navigation route sign whose latitude and longitude are obvious, and uses the signals as error correction information, so that it is equivalent to GPS using a P code. Positioning accuracy can be obtained.
“Second Edition, Aerospace Engineering Handbook” Maruzen, September 30, 1992, page 1063

  By the way, in recent years, the use of GPS for a flying object with a short flight time such as a rocket, a cannonball, and a missile has been studied. However, the GPS using the P-code for precise positioning is naturally expensive and not easily available.

  On the other hand, a GPS using a coarse positioning C / A code is relatively inexpensive and easy to obtain, but after turning on the receiver, the GPS satellite is tracked at a fixed position for a certain period of time. It is necessary to memorize the arrangement of visible GPS satellites. In addition, since DGPS increases positioning accuracy by acquiring a signal from a base station as error correction information for a long time, it takes time to ensure sufficient positioning accuracy.

  For this reason, GPS and DGPS using the C / A code are used for flying objects such as those described above, that is, flying objects with a relatively short flight time, an unspecified launch position, and emergency launch required. It was difficult to apply. Also, this type of flying object is often housed in a metal structure that cuts off radio waves, such as launchers, canisters, and gun barrels, or satellite signals that are hindered by aircraft such as under the wings of aircraft. Is installed at a position where it is difficult to receive. Therefore, it is difficult to receive GPS satellite signals with the installed receiver before launch, and this situation also makes it difficult to apply GPS and DGPS using the C / A code to the above-mentioned flying object. It was.

  The present invention has been made in view of the above-described conventional situation. In particular, using GPS and DGPS using a C / A code, the flight time is relatively short, the launch position is unspecified, and the emergency launch is performed. It is an object of the present invention to provide a flying object positioning apparatus that can perform high-precision positioning of a flying object that requires the above.

According to a first aspect of the present invention, a positioning device for a flying object is provided in the launching apparatus for a flying object, and receives a signal from a plurality of GPS satellites and a signal from a base station to detect its own position. Through a wired data input path for inputting data from the main receiver to the on-board receiver, which is mounted on the flying object and receives signals from a plurality of GPS satellites to detect its position. As the data to be input to the onboard receiver from the main receiver, the flying of the flying object predicted based on the arrangement information of multiple GPS satellites and the direction and angle of the flying object at the time of launching It includes a three-dimensional flight information indicating a route, and is configured to perform independent positioning while collating GPS satellite arrangement information with the three-dimensional flight information in the post-launched flight body. Housed in structure There Te configuration as to have, and a means for solving the conventional problems with the above configuration.

  In the flying object positioning device according to claim 1 of the present invention, the main receiver always receives signals from a plurality of GPS satellites and signals from the base station, and uses the signals from the base station as error correction information. Based on each signal, the position of itself is detected, and the data is input to the flying vehicle-mounted receiver through a wired data input path.

  That is, it is possible to use a DGPS receiver that uses a C / A code as the main receiver, thereby obtaining data with higher accuracy than GPS using a C / A code. Further, since the on-board receiver is immediately initialized when high-precision data is input from the main receiver when the power is turned on, the GPS using the C / A code can be used.

  The flying object positioning device separates the main receiver and the on-board receiver at the data input path along with the launching of the flying object. At this time, even if the flying object positioning device urgently launches the flying object at an arbitrary launch position, data is input from the main receiver that is always positioning to the on-board receiver before that launching. Even after launching the flying object, the on-board receiver maintains positioning accuracy equivalent to that of the main receiver.

In addition, after launching the flying object, the on-board receiver will receive signals from multiple GPS satellites without receiving signals from the base station, and will perform positioning. Since the data including the signal from the base station is stored, if the flying time of the flying object is short, the positioning error generated before reaching the target is extremely small.
Further, in the above-mentioned flying object positioning device, the data input from the main receiver to the on-board receiver includes the flying object predicted based on the arrangement information of a plurality of GPS satellites and the direction and launch angle of the projectile at the time of launch. Since the three-dimensional flight information indicating the flight route is included, immediately after launching the flying object, the GPS satellite can be captured and selected by the on-board receiver in a short time when performing independent positioning. Further, after launching the flying object, the flying object is caused to fly based on the three-dimensional flight information while performing independent positioning.

  In the flying object positioning apparatus according to claim 2 of the present invention, the flying object is accommodated in a metal structure for launching. In this case, since the metal structure blocks radio waves, the signal cannot be received by the receiver mounted on the flying object. On the other hand, in the positioning device of the flying object, the signal is always received by the main receiver and the data is input to the on-board receiver, so that it is applied to the flying object housed in the metal structure for launching. Can do.

According to the positioning apparatus for a flying object according to claim 1 of the present invention, for example, it is suitable for a flying object in which the flight time is relatively short, the launch position is unspecified, and emergency launch is required, Using the GPS and DGPS using the C / A code, the positioning accuracy and target arrival accuracy of the flying object can be improved, and the production cost can be reduced by using the GPS and DGPS. .
Further, according to the above-mentioned flying object positioning device, by inputting the arrangement information of a plurality of GPS satellites from the main receiver to the on-board receiver, the GPS satellite can be captured by the on-board receiver immediately after the launch of the flying body. Selection can be made in a short time. This makes it possible to quickly start single positioning and guidance control before the flying object reaches a high speed, and to further improve the target arrival accuracy of the flying object. Along with the start, it is possible to reduce the capacity of the guidance control device and the energy source together with the driving force of the guidance control, thereby realizing the weight reduction of the flying object. Furthermore, even if a situation occurs in which the GPS satellite signal once selected cannot be received during flight, the GPS satellite can be re-acquired and selected in a short time.
Further, according to the above-mentioned flying object positioning device, in addition to the positioning information of the GPS satellite, the three-dimensional flight information indicating the flying path of the flying object predicted based on the direction and the launch angle of the flying object at the time of launching Since input from the main receiver to the on-board receiver is performed, even if a posture change occurs in the flying object in flight, the GPS satellite can always be captured and selected to continue the independent positioning well.

  According to the positioning apparatus for a flying object according to claim 2 of the present invention, the same effect as that of claim 1 can be obtained, and a launch metal, such as a launcher, a canister, a gun barrel, etc., can be used. The application of a positioning device using GPS can also be realized for a flying object housed in a structure.

  FIG. 1 is a view for explaining an embodiment of a flying object positioning apparatus of the present invention. The flying object positioning apparatus shown in the figure is the main receiver 1 provided in the launching apparatus B of the flying object A, the mounted receiver 2 mounted on the flying object A, and data is input from the main receiver 1 to the mounted receiver 2. The data input path 3 is provided.

  The flying object A is, for example, a flight time that is relatively short, a launch position is unspecified, and emergency launch is required, and more specifically, a rocket, a cannonball, a missile, and the like. The launcher B is housed in a metal structure C such as a launcher, canister, or barrel.

  The main receiver 1 is a DGPS receiver using a C / A code, and receives a signal from a plurality of GPS satellites S1 and a signal from a base station S2 whose longitude and latitude are clear to determine its own position. In particular, by using a signal from the base station S2 as error correction information, the positioning accuracy is higher than that of a GPS receiver using a C / A code. Of course, the main receiver 1 is provided in a state in which each signal can always be received in the launching device B. The base station S2 includes radio navigation signs such as aircraft and ships, broadcast stations, and the like.

  The on-board receiver 2 is a GPS receiver that uses a C / A code, and receives signals from a plurality of GPS satellites S1 to detect its own position. In the flying object A, data from the on-board receiver 2 is input to the control circuit 4 so as to perform attitude control of the flying object.

  The data input path 3 includes cables such as electric wires and optical fibers for transmitting signals, connectors, and peripheral devices. For example, the data input path 3 is connected to the main receiver 1 by a connector that can be attached to and detached from the side of the flying object A. The on-board receiver 2 is detachably connected.

  The flying object positioning device having the above-described configuration is such that the main receiver 1 always receives signals from a plurality of GPS satellites S1 and signals from the base station S2, detects its own position, as well as an initial position, a satellite Orbital history and data such as arrangement information of a plurality of GPS satellites S1, GPS time, clock, error correction data, ionosphere correction parameters, and three-dimensional flight information indicating the flight path of the flying object are transmitted by a wired data input path 3 to the flying object A. To the onboard receiver 2. At this time, since the main receiver 1 always performs positioning of the flying object positioning device, the launching device B on which the device is mounted may move.

  In the on-board receiver 2, since the flying object A is housed in a metal structure C that blocks radio waves, the GPS satellite S1 signal cannot be directly received before the flying object A is launched. Since the data is input from the main receiver 1 at the time when is input, the initial setting is immediately made based on the high-precision data including the error correction information.

  Then, the flying object positioning device separates the main receiver 1 and the mounted receiver 2 by, for example, detaching the connector of the data input path 3 from the flying object A as the flying object A is launched. At this time, even if the flying object positioning device fires the flying object A at an arbitrary position, data is input to the on-board receiver 2 from the main receiver 1 that always performs positioning before the launching. Therefore, even after the launch of the flying object A, the on-board receiver 2 maintains the positioning accuracy equivalent to that of the main receiver 1.

  In addition, after launching the flying object A, the on-board receiver 2 receives only signals from a plurality of GPS satellites S1 and does not receive signals from the base station S2, but performs positioning. Since the data including the data from the aircraft 1, that is, the data including the signal from the base station S2, is stored, if the flight time of the flying object A is particularly short, the positioning error that occurs before reaching the target is extremely small.

  In this way, the flying object positioning device uses the DGPS main receiver 1 that uses the C / A code and the GPS-mounted receiver 2 that uses the C / A code to determine the position of the flying object A. It is clear that the accuracy and the target arrival accuracy can be improved, and that it can be sufficiently applied to the flying object A accommodated in the metal structure C for launching that cuts off radio waves. The production cost can be reduced by using GPS and DGPS using the / A code.

  Here, in the positioning device of the flying object, the data input from the main receiver 1 to the on-board receiver 2 includes the arrangement information of the plurality of GPS satellites S1 and the three-dimensional flight information indicating the flying path of the flying object A. Therefore, before the projectile A after launch reaches a high speed, the single positioning and guidance control of the projectile A can be started quickly, and the GPS satellite S1 can be re-acquired and selected during the flight. It can be done in a short time.

  For example, a flying object that simply uses GPS with C / A code captures multiple GPS satellites immediately after launch, selects a GPS satellite suitable for positioning from among them, and receives a signal from the selected GPS satellite. It takes time from the start of positioning to the start of positioning. For this reason, the speed of the flying object increases before the positioning starts, and the guidance control is started after the speed becomes high. Therefore, a large driving force is required for the guidance control. The capacity of will also increase. Further, when the direction of the antenna is changed along with the change in the attitude of the flying object during flight, and it becomes impossible to receive a signal from the GPS satellite once selected, it takes time to recapture and select the GPS satellite.

  On the other hand, in the positioning device of the flying object, the main receiver 1 acquires a plurality of GPS satellites S1 to acquire the arrangement information of the GPS satellites S1, and the signals and base stations from the selected GPS satellites S1. The positioning is always performed by the signal from S2, and these data are input to the onboard receiver 2, and when the flying object A is launched, the flying object is based on the direction and the launch angle of the flying object A in the launching device B. A flight path of A is predicted, and this is input from the main receiver 1 to the on-board receiver 2 as three-dimensional flight information indicating the flight path.

  Thereby, in the positioning device of the flying object, the data input path 3 is disconnected together with the launching of the flying object A, and the flying object A flies while receiving signals from a plurality of GPS satellites S1 and performing independent positioning. At this time, by comparing the positioning information of the GPS satellite S1 input to the onboard receiver 2 immediately before the launch and the three-dimensional flight information with an arithmetic unit included in the control circuit 4 or the like, a plurality of GPS can be obtained in an extremely short time immediately after the launch. The satellite S1 is captured and a GPS satellite S1 suitable for positioning is selected, and independent positioning and guidance control are started to continue flying.

  That is, since the positioning device of the flying object grasps in advance the posture change of the flying object A on the flight path based on the three-dimensional flying information, the arrangement information of the GPS satellite S1 and the three-dimensional flying of the flying object A By determining the order of the GPS satellites S1 to be selected during the flight based on the information, even if the attitude of the flying object A changes and the direction of the antenna changes, the next GPS satellite S1 can be quickly selected. Independent positioning can be continued well.

  In general, the flight time of the flying object A such as a rocket bullet, a cannonball, and a missile is very short compared with the position movement speed of the GPS satellite S1, so that the information of the GPS satellite S1 input immediately before the launch becomes invalid. Can reach the goal.

  Thus, in the flying object A using the positioning device, it does not take time to start single positioning from launch, and single positioning and guidance control can be quickly started before reaching high speed. Therefore, the driving force for guidance control can be reduced, and the weight of the guidance control device and energy source can be reduced to achieve weight reduction. In addition, independent positioning during flight can be continued well. Achievement accuracy increases.

  Further, in this type of projectile A, in addition to the above-described change in attitude during flight, vibration, impact, acceleration of deceleration or acceleration, and centrifugal force due to spin, etc. are added during a separation event during launch or flight. Because of these external forces, the signal from the GPS satellite S1 may be Doppler shifted, or the reference frequency transmitter that is a component of the GPS receiver may drift, so that the signal from the GPS satellite S1 once captured may be lost. is there.

  On the other hand, according to the positioning device of the flying object, since the GPS satellite S1 after the launch can be captured and selected in a short time as described above, it is temporarily captured by an external force applied to the flying object A or the like. Even if the signal from the GPS satellite S1 is lost, the GPS satellite S1 can be easily re-acquired and selected, and the time loss is thus small. It can contribute to weight reduction.

  In the above embodiment, the case where the flying object A is housed in a metal structure C such as a launcher, a canister, and a gun barrel has been described. However, the positioning apparatus for the flying object has a structure similar to that of a wing of an aircraft. Of course, the present invention can also be applied to a flying object attached at a position where it is difficult to receive a satellite signal. In this case, the same effect as in the above embodiment can be obtained.

  In addition, the flying object positioning device in the above embodiment performs high-accuracy positioning by DGPS using the C / A code GPS, but the P-code is more accurate than the C / A code GPS. Of course, it is also possible to use GPS.

It is a block diagram explaining one Example of the positioning apparatus of the flying body concerning this invention.

Explanation of symbols

A projectile B launcher C metal structure for launch S1 GPS satellite S2 base station 1 main receiver 2 onboard receiver 3 data input path

Claims (2)

A main receiver that receives signals from multiple GPS satellites and signals from the base station to detect its own position, and detects its position by receiving signals from multiple GPS satellites mounted on the flying object Connected to each other via a wired data input path for inputting data from the main receiver to the on-board receiver ,
The data input from the main receiver to the onboard receiver includes the location information of multiple GPS satellites and three-dimensional flight information that indicates the flight path of the flying object predicted based on the direction and launch angle of the flying object at the time of launch. ,
A positioning apparatus for a flying object, which performs independent positioning while collating positioning information of a GPS satellite and three-dimensional flight information in a flying object after launch .   2. The flying object positioning device according to claim 1, wherein the flying object is accommodated in a metal structure for launching.

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