JP2012063110A - False target generator - Google Patents

Abstract

The present invention provides a pseudo target generator that efficiently moves a flying object from a flying course toward a tracked target.
In a dome 103 supported by a gimbal mechanism 102, a camera 104 that is an imaging device, a reflecting mirror 108 that reflects laser light, and image data output by the camera 104 are input, and a flying object M is input. Is determined toward the target to be tracked, a determination unit 105 that analyzes the reflected light of the flying object scanning probe, a modulation unit 106 that generates a modulation signal according to instructions of the determination unit 105, and the modulation And a laser beam generator 107 for generating a laser beam in accordance with the signal. The pseudo target generator 100 generates a laser beam of a modulation pulse with a modulation pulse period equal to the scanning period, a modulation pulse width equal to the reflection pulse width, and an arbitrarily determined delay time, and fly through the reflection mirror. Irradiate the scanning probe of body M.
[Selection] Figure 1

Description

  Embodiments described herein relate generally to a pseudo target generator for a scanning probe.

  Some flying object guidance devices employ a scanning probe. FIG. 5 is a diagram schematically showing a scanning probe.

  As shown in FIG. 5, the scanning probe reflects the primary mirror 502 that reflects the infrared ray B inside the dome 501 and the infrared ray that is reflected by the primary mirror 502 while being rotated by the rotation frequency f2 while being inclined by the angle φ2. The secondary mirror 503, the wedge plate 504 that is inclined by the angle φ1 and is rotated at the rotational frequency f1 and transmits the infrared ray reflected by the secondary mirror 503 with the refractive index N, and the infrared ray that is transmitted through the wedge plate 504 is detected. A detector 505.

  From the detection time t of the infrared image projected onto the field of view, the scanning probe determines the X coordinate according to the following equation (1) and the Y coordinate according to the equation (2) to indicate in which direction the flying target is ahead. Determine the coordinates.

X = φ2 × (−cos2πf1t−cos2πf2t) (1)
Y = φ2 × (sin2πf1t−sin2πf2t) (2)
However, φ2 = {φ1 × (N−1) × d2} / {2 × (d1 + d2)}
Here, d1 is the distance between the secondary mirror 503 and the wedge plate 504, and d2 is the distance between the wedge plate 504 and the detector 505.

  The flying object is steered so that the tracking target comes to the center of the field of view based on the X and Y coordinates. In contrast, a tracked target that is being tracked attempts to generate a pseudo target to deflect the flying object.

  A conventional pseudo target generator irradiates a scanning probe with a modulated laser beam, analyzes the laser beam reflected from the scanning probe, and obtains a laser modulation light frequency. The scanning probe is irradiated with laser light at this laser modulation light frequency.

JP-A-8-166211

  FIG. 6 is a trajectory in which the scanning probe has detected the laser light emitted with this laser-modulated light frequency. As shown in FIG. 6, since the locus 601 occupies a large part of the scanning pattern, the scanning probe determines that the tracking target is in the traveling direction and does not change the trajectory.

  The average value of the scanning angle during the period in which the laser beam is irradiated in one scanning period becomes the tracking point of the scanning probe. Therefore, for example, when the duty ratio is 50% of one scanning period, the variation in the scanning angle becomes large, and the average value becomes close to zero. In this case, the tracking point is the center of the field of view. Therefore, the scanning probe affected by the conventional pseudo target generator recognizes that the tracking target is at the center of the field of view and flies, and does not change the trajectory.

  Therefore, the effect of the conventional pseudo target generator is not sufficient.

  In order to solve the above-described problems, an embodiment of the present invention includes an imaging device that images a flying object, a reflector that reflects laser light toward the flying object, and a flying object that is received by the imaging apparatus. The reflected light of the laser beam is analyzed by the scanning probe, and the modulation pulse period is the same as the scanning period of the scanning probe, the modulation pulse width is equal to the reflected pulse width of the scanning probe, and the delay time is arbitrarily set There is provided a pseudo target generation device including a determination unit that performs a modulation instruction, a modulation unit that generates a modulation signal according to the modulation instruction of the determination unit, and a laser light generation device that generates laser light according to the modulation signal.

It is a figure showing the structure of a pseudo | simulation target generator. It is a flowchart which shows operation | movement of a pseudo | simulation target generator. It is a graph which shows the relationship between a scanning pattern and a modulation pulse. It is a figure which shows the detection position of the modulation | alteration pulse on a scanning pattern. It is a figure showing typically a scanning type probe. This is a trajectory in which the scanning probe has detected the laser light emitted with this laser-modulated light frequency.

  Hereinafter, an embodiment of a pseudo target generator according to the present invention will be described in detail with reference to the drawings.

  The pseudo target generator includes an imaging device that images a flying object, a reflector that reflects laser light toward the flying object, and reflection of the laser light by a scanning probe of the flying object received by the imaging device. A determination unit that analyzes light and performs a modulation instruction with a modulation pulse period that is the same as the scanning period of the scanning probe, a modulation pulse width that is equal to the reflected pulse width of the scanning probe, and an arbitrarily determined delay time; A modulation unit that generates a modulation signal in accordance with a modulation instruction from the determination unit; and a laser beam generator that generates laser light in accordance with the modulation signal.

  That is, the pseudo target generator determines the duty ratio of the laser beam so that the modulation frequency of the laser beam is the scanning frequency and the modulation pulse width of the laser beam is equal to the reflected pulse width.

  In the scanning probe affected by these specifications, a pseudo target is generated at a randomly determined position, and the flying object changes its orbit in the direction of the pseudo target.

  FIG. 1 is a diagram illustrating a configuration of a pseudo target generator 100 according to the present embodiment. As shown in FIG. 1, the pseudo target generation device 100 is mounted on a tracked target tracked by a flying object M on which a scanning probe is mounted, and images are captured inside a dome 103 supported by a gimbal mechanism 102. The camera 104 which is an apparatus, and the reflective mirror 108 which reflects a laser beam are provided.

  Furthermore, the pseudo target generator 100 receives the image data output from the camera 104, determines whether the flying object M is coming toward the tracked target, and reflects the reflected light of the flying object M by the scanning probe. A determination unit 105 to analyze, a modulation unit 106 that generates a modulation signal in accordance with an instruction from the determination unit 105, and a laser light generator 107 that generates laser light R1 in accordance with the modulation signal.

  The determination unit 105 includes a CPU that is an arithmetic device, a ROM and a RAM that are storage devices, a D / A converter, and an A / D converter.

  The laser light generation device 107 includes an amplifier, amplifies the modulation signal modulated by the modulation unit 106 to generate laser light, and irradiates the flying object M.

  The determination unit 105 determines whether the flying object M comes toward the tracked target as follows. First, the determination unit 105 identifies the flying object M from the first frame image captured by the camera 104 and labels it as L1. Next, the determination unit 105 identifies the flying object M from the second frame imaged by the camera 104 and labels it as L2. The determination unit 105 calculates changes in the positions of L1 and L2, and calculates the traveling direction of the flying object M.

  The determination unit 105 obtains a scanning frequency and a reflected pulse width from the laser light reflected by the flying probe of the flying object M. The determination unit 105 samples the reflected laser light and calculates the scanning frequency from the number of reflections per unit time. Further, the reflected pulse width is obtained by measuring the time of the pulse width of the reflected light.

  FIG. 2 is a flowchart showing the operation of the pseudo target generator 100. As shown in FIG. 2, in step 201, the pseudo target generator 100 irradiates a scanning probe with laser light. This laser light may be continuous light or may be appropriately modulated.

  In step 202, the pseudo target generator 100 receives the reflected laser beam reflected by the flying probe M scanning probe. That is, the camera 104 receives the reflected laser light, converts it into an electrical signal, and outputs it to the determination unit 105.

  In step 203, the pseudo target generator 100 calculates a scanning frequency and a reflected pulse width from the reflected laser beam by the determination unit 105.

  In step 204, the pseudo target generator 100 outputs a modulation instruction to the modulation unit 106 using the scanning frequency as the modulation frequency and the reflected pulse width as the modulation pulse width. The modulation unit 106 generates a modulation signal based on the instructed modulation frequency, modulation pulse width, and arbitrarily determined delay time. The modulation unit 106 outputs this modulation signal to the laser light generator 107.

  The modulation pulse width is desirably 5% or less of one scanning period that is a scanning period obtained from the scanning frequency. This is because if it exceeds 5%, the scanning probe is likely to determine that the flying object M is flying toward the target. When the reflected pulse width exceeds 5% of one cycle of the scanning cycle, which is the threshold value, the modulation pulse width is output to the laser light generator 107 as 5% or less of one cycle of the scanning cycle.

  In step 205, the pseudo target generator 100 amplifies the modulation signal by the laser beam generator 107 to generate a modulated pulse laser beam, and irradiates the scanning probe of the flying object M via the reflector 108.

  In step 206, the pseudo target generator 100 determines whether the flying object M has deviated from the flying course toward the tracked target. The pseudo target generator 100 ends the process when the flying object M deviates from the flying course toward the tracked target, and proceeds to step 207 if not.

  In step 207, the pseudo target generator 100 changes the delay time of the modulation pulse by the determination unit 105 and returns to step 205.

  FIG. 3 is a graph showing the relationship between the scanning pattern and the modulation pulse. As shown in FIG. 3, a graph 301 shows a change in the X coordinate of the scanning pattern, and a graph 302 shows a change in the Y coordinate of the scanning pattern. One cycle of the scanning pattern is W0.

  The pseudo target generator 100 obtains a reflection frequency from the reflected laser beam by the determination unit 105 and obtains a time interval of one scanning period. In addition, the pseudo target generator 100 calculates the modulation pulse width W1 by the determination unit 105.

  The pseudo target generation device 100 causes the laser light generation device 107 to generate a laser beam of a modulation pulse with a modulation pulse cycle W2 having the same cycle as the scanning cycle W0, a modulation pulse width W1 equal to the reflection pulse width, and a delay time t1. Irradiate the scanning probe of the glaze M.

  FIG. 4 is a diagram showing the detection position of the modulation pulse on the scanning pattern. As shown in FIG. 4, when the flying probe of the flying object M detects the modulation pulse at the detection position 401, the flying object M changes the flying course in order to move the modulation pulse to the center of the field of view. To do. Accordingly, the flying object M deviates from the flying course toward the tracked target.

  Here, it is assumed that the scanning type probe of the flying object M happens to detect the modulation pulse at the detection position 402. In this case, the flying object M does not change the flying course. Therefore, the pseudo target generator 100 changes the delay time t1 of the modulation pulse and shifts the detection position on the scan pattern of the modulation pulse. Accordingly, the flying object M deviates from the flying course toward the tracked target.

  As described above, the pseudo target generation device 100 according to the present embodiment includes the camera 104 as the imaging device, the reflecting mirror 108 that reflects the laser light, and the camera 104 inside the dome 103 supported by the gimbal mechanism 102. Is input to the image data, and it is determined whether the flying object M is directed toward the tracked target, and the determination unit 105 that analyzes the reflected light of the flying object M by the scanning probe, A modulation unit 106 that generates a modulation signal in accordance with an instruction, and a laser light generator 107 that generates laser light in accordance with the modulation signal are provided. The pseudo target generator 100 generates a laser beam of a modulation pulse with a modulation pulse period W2 having the same period as the scanning period W0, a modulation pulse width W1 equal to the reflection pulse width, and a delay time t1, and then fly through the reflector 108. Irradiate the scanning probe of the glaze M.

  Therefore, the pseudo target generator 100 has an effect that the flying object M can be effectively deviated from the flying course toward the tracked target.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

102: Gimbal mechanism,
104: Camera
105: determination unit,
106: modulator
107: Laser light generator,
108: Reflector.

Claims (4)

An imaging device for imaging a flying object;
A reflecting mirror that reflects laser light toward the flying object;
Analyzing the reflected light of the laser beam by the flying probe scanning probe received by the imaging device, the modulation pulse period of the same period as the scanning period of the scanning probe, the reflected pulse of the scanning probe A determination unit for performing a modulation instruction with a modulation pulse width equal to the width and an arbitrarily determined delay time;
A modulation unit that generates a modulation signal in accordance with the modulation instruction of the determination unit;
A laser beam generator for generating a laser beam according to the modulation signal;
A pseudo target generator comprising: The determination unit
The pseudo target generation device according to claim 1, wherein the delay time is changed when it is determined from the image of the flying object imaged by the imaging device that the flying object is moving in the direction of the tracked target. The determination unit
When the ratio of the reflected pulse width to the scanning cycle exceeds a threshold value, the reflected pulse width is changed so that the ratio of the modulated pulse width to the scanning cycle is equal to or less than the threshold value, and a modulation instruction is issued to the determination unit. Item 2. The pseudo target generator according to Item 1. The determination unit
The pseudo target generator according to claim 1, wherein when the reflected pulse width exceeds 5% of the scanning period, the modulation pulse width is set to 5% or less of the scanning period and a modulation instruction is given to the determination unit.

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