Method for determining the line-of-sight rates of turn with a rigid seeker head
AssigneeMafo Systemtechnik Dr.-Ing. A. Zacharias, GmbH & Co. KG
InventorAthanassios Zacharias
Life of this patent
Estimating the term…
Abstract
A method for determining the rates of turn of the missile/target line of sight with a seeker head rigidly mounted on the missile, characterized in that the azimuth and elevation deviation angles (.psi..sub.sm and .THETA..sub.sm) of the target measured with the rigidly mounted seeker head (2) in the missile-fixed coordinate system (s.sub.1, S.sub.2, s.sub.3) are transformed to the azimuth and elevation deviation angles (.psi..sub.v and .THETA..sub.v) of the target based on the coordinate system (v.sub.1, v.sub.2, v.sub.3) of a virtual, gimbal mounted and gyrostabilized seeker head (2v) that tracks the missile/target line of sight (SL) by rotation with the rates of turn (p.sub.v, q.sub.v, r.sub.v) about its three axes (v.sub.1, v.sub.2, v.sub.3).
Claims19
A method of determining a desired rate-of-turn of a guided missile toward a target for use by a guidance unit configured to steer the missile, the missile having a fixed seeker head rigidly attached thereto, the seeker head having a center point through which an on-target, line-of-sight axis extends, said method including the steps of:
- measuring a real deviation angle between the seeker head and the target, said real deviation angle representing a deviation between the seeker head line-of-sight axis and the target relative to the seeker head center point;
- determining a virtual seeker transformation matrix between the seeker head and a virtual seeker, said virtual seeker being centered on the seeker head center point and being selectively rotatable about the seeker head center point, said virtual seeker having a virtual line-of-sight that extends through the seeker head center point at a fixed angle relative to the virtual seeker, said determining step including the steps of:
- measuring rotation of the seeker head line-of-sight axis in a reference coordinate system;
- determining rotation of said virtual seeker virtual line-of-sight from the seeker head center point in the reference coordinate system, said rotation determination being performed by monitoring a calculated virtual seeker rate-of-turn;
- and
- basing said virtual seeker transformation matrix on said real seeker head measured rotation and said virtual seeker calculated rotation;
- calculating a virtual deviation angle between said virtual seeker head and the target, said virtual deviation angle representing a deviation between said virtual seeker virtual line-of-sight and the target relative to the seeker head center point, said calculation being based on said real deviation angle and said virtual seeker transformation matrix;
- and
- calculating a virtual seeker rate-of-turn based on said calculated virtual deviation angle wherein said virtual seeker rate-of-turn is used in a subsequent virtual seeker virtual line-of-sight rotation determination step and is forwarded to the missile guidance unit as the missile rate-of-turn.
A method of generating guidance commands for a guided missile, the missile having a rigid seeker head fixedly attached thereto that monitors the position of a target relative to the missile, said rigid seeker head having a center point through which a line-of-sight axis extends and a guidance system for directing the missile toward the target, said method including the steps of:
- measuring a real deviation angle between the seeker head line-of-sight axis and the target relative to the seeker head center point;
- determining a virtual seeker head transformation matrix between the seeker head and a virtual seeker, said virtual seeker head being rotatably centered on the seeker head center point, said virtual seeker having a virtual line-of-sight that extends from the seeker head center point at a fixed angle relative to said virtual seeker, said transformation matrix determination step including the step of determining the rotation of said virtual seeker around the seeker head center point based on a calculated virtual seeker rate-of-turn;
- calculating a virtual deviation angle between said virtual seeker virtual line-of-sight and the target relative to the seeker head center point based on said real deviation angle and said virtual seeker transformation matrix;
- calculating a virtual seeker rate-of-turn for said virtual seeker based on said virtual deviation angle;
- supplying said virtual seeker rate-of-turn for use in a subsequent virtual seeker transformation matrix determination step;
- and
- generating commands to the missile guidance system based on said virtual seeker rate-of-turn.
Dependencies are inferred from the claim text.