US 4,224,507 AGranted

System for tracking a moving target with respect to a frame of reference of unvarying orientation and fixed origin relative to earth

AssigneeThomson-CSF

InventorRobert Gendreu

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Abstract

A system for tracking a moving target from a moving carrier. The tracking system is provided with a device for measuring the position of the target in relation to the carrier and with a servocontrol unit for servo controlling the aiming of the device. The error between the position of the target and a position estimated for it is given by the measuring device in spherical coordinates. The tracking system is further provided with a converting unit, in which the spherical coordinates are converted into cartesian coordinates. A frame of reference changing unit and a trajectory simulator of the target allow the position of the target to be calculated in relation to a cartesian frame of reference of unvarying orientation and fixed in relation to the earth. A frame of reference changing unit in the opposite direction and a unit for controlling the position of the device for measuring the position of the target on the basis of the simulated position coordinates allow through the servo control unit the aiming of the device for measuring the position of the target to be controlled.

Claims20

Dependent claims

A system for tracking a moving target with respect to a first frame or reference of unvarying orientation and fixed origin relative to the earth from a movable carrier, said system comprising means disposed on said carrier for measuring positional deviations of said target in a second frame of reference related to said measuring means, means disposed on said carrier for moving said measuring means, and means for controlling said moving means in response to said measured deviations, said controlling means comprising:

first means for converting said measured deviations relative to said second frame of reference into corresponding deviations relative to said first frame of reference;
an inertial platform disposed on said carrier including means for generating a signal related to the speed of said carrier;
first means, responsive to said corresponding deviations, for calculating the estimate position of said target relative to said first frame of reference, said calculating means including means for integrating said carrier speed signal and means responsive to said integrating means for generating a signal related to the estimated position of said target relative to said first frame of reference;
and
second means for converting said estimated position relative to said first frame of reference into a corresponding estimated position signal relative to said second frame of reference, said moving means being responsive to said corresponding estimated position signal.

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Dependencies are inferred from the claim text.