JP2018151083A - Navigation system and navigation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a long range of an aurora missile. An observation device 20 observes flight state information of an aurora missile 100. The network device 30 communicates with the observation device 20 and also communicates with the navigation device 10. The aurora missile observation unit of the observation device 20 observes the flight state information 63 including the angle and distance of the aurora missile 100, and transmits the flight state information 63 to the network device 30. Further, the information storage unit of the network device 30 stores the flight state information transmitted from the aurora missile observation unit in the information storage unit. Further, the correction amount calculation unit of the navigation device 10 receives the track information 62 stored in the information storage unit, and calculates the correction amount of the inertial navigation information of the flying body 100 based on the received track information 62. [Selection diagram] Fig. 1

Description

  The present invention relates to a navigation system and a navigation method for performing network in-flight alignment.

The phases of the guided vehicle include an initial mid-phase guidance phase and a terminal guidance phase. The first mid-term guidance phase is a phase in which guidance flight is performed based on position, velocity, and attitude information by inertial navigation. In the terminal guidance phase, after a certain distance from the threat target meets a certain condition, the homing device mounted on the guidance flying object searches and tracks the threat target by radiating radio waves, that is, radar, in the direction It is a phase to fly to.
In order to extend the range of the guided vehicle, it is necessary to extend the time and distance of the initial medium-term guidance phase, but the inertial navigation error increases with the passage of time and distance. As a result, the guidance error of the first mid-term guidance phase increases, the homing device cannot catch the threat target within the range irradiated with radio waves, that is, the radar to search for the target, and the guided bullet is associated with the threat target. The case where it is not possible is assumed. Here, capturing a threat target within a range irradiated with radar is called lock-on.

  As shown in Patent Document 1, with respect to the improvement of the error of inertial navigation that increases with the passage of time and distance, conventionally, countermeasures have been taken such as hybridizing with other navigation devices such as GPS (Global Positioning System). . Alternatively, countermeasures have been taken such as using an inertial navigation device equipped with an inertial measurement sensor such as a highly accurate gyroscope and an accelerometer.

A countermeasure to hybridize with the other navigation device of the former is a method using a Kalman filter, which estimates and corrects an error of inertial navigation optimally in a least square manner using GPS observation values. This measure is widely used from civil demand such as car navigation to defense applications because it can control the price relatively cheaply.
In addition, the latter measure using a high-precision inertial navigation system is very expensive, and is used only in a limited area such as large civil aircraft, fighters and escort ships. Even if a highly accurate inertial navigation device is used, the increase in error cannot be completely suppressed, and in most cases it is used in combination with GPS.

JP 2014-174070 A

In a contingency where a guided vehicle is used, it is assumed that interference and deception by a radio jammer will be implemented. Since the radio wave used is very weak in strength and the frequency and message specifications are publicized, it can be easily disturbed and deceived and cannot be used. In addition, since a high-precision inertial measurement sensor is very expensive, there is a problem that the price is not suitable for mounting on a guided flying body that is a one-shot product.
In the case of a guided vehicle launched from the ground or a ship, the track information of the guided vehicle by the fire control radar of the launch vehicle is transmitted to the guided vehicle via a data link to estimate and correct inertial navigation errors. The method used is used. However, due to the extension of the initial mid-term guidance distance due to the longer range, the RCS (Radar cross-section), that is, in the case of a guided flying object with a small radar reflection area, cannot be tracked beyond a certain distance. Cannot be adopted.

  It is an object of the present invention to maintain and improve the accuracy of inertial navigation, which causes a guidance error in the first mid-term guidance phase, by an in-flight alignment method using a network device that integrates information on consort ships, wingmen and friendly radar sites. And

A navigation system according to the present invention is mounted on a flying object, and a navigation device that causes the flying object to fly by inertial navigation using inertial navigation information including the position, velocity, and attitude of the flying object, and the flying object. A navigation system comprising: an observation device that observes flight state information representing a flight state of a gyro; and a network device that communicates with the navigation device and communicates with the observation device;
The observation device is
The flight state information including an angle of the flying object and a distance to the flying object is observed, and the flying object observation unit transmits the observed flight state information to the network device,
The network device is:
An information storage unit that stores the flight state information transmitted from the flying object observation unit in an information storage unit as track information;
The navigation device is
A correction amount calculating unit that receives the track information stored in the information storage unit and calculates a correction amount of the inertial navigation information of the flying object based on the received track information;

  In the navigation system according to the present invention, the navigation device mounted on the flying object causes the flying object to fly by inertial navigation using inertial navigation information including the position, velocity, and attitude of the flying object. In addition, the observation device observes flight state information of the flying object. In addition, the network device communicates with the observation device and the navigation device. The flying object observation unit of the observation device observes flight state information including the angle and distance of the flying object as track information, and transmits the track information to the network device. In addition, the information storage unit of the network device stores the track information transmitted from the flying object observation unit in the information storage unit. The correction amount calculation unit of the navigation apparatus receives the track information stored in the information storage unit, and calculates the correction amount of the flying object inertial navigation information based on the received track information. Therefore, according to the navigation system of the present invention, it is possible to increase the range of the flying object without using a high-priced inertial measurement device that is not suitable for a flying object that is a one-shot product.

FIG. 4 shows a specific example of the navigation system 500 according to the first embodiment. 1 is a configuration diagram of a navigation system 500 according to Embodiment 1. FIG. 1 is a configuration diagram of a navigation device 10 according to Embodiment 1. FIG. 1 is a configuration diagram of an observation device 20 according to Embodiment 1. FIG. 1 is a configuration diagram of a network device 30 according to a first embodiment. FIG. 5 is a flowchart showing a navigation method 510 and navigation processing S100 in the navigation system 500 according to the first embodiment. The figure which shows the detail of the correction amount calculation process S50 of the navigation apparatus 10 which employ | adopted the network in-flight alignment which concerns on Embodiment 1. FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the part which is the same or it corresponds in each figure. In the description of the embodiments, the description of the same or corresponding parts will be omitted or simplified as appropriate.

Embodiment 1 FIG.
*** Explanation of configuration ***
FIG. 1 is a diagram showing a specific example of a navigation system 500 according to the present embodiment. FIG. 2 is a diagram showing a configuration of navigation system 500 according to the present embodiment. The configuration of navigation system 500 according to the present embodiment will be described using FIG. 1 and FIG.
The navigation system 500 includes a navigation device 10, an observation device 20, and a network device 30.
The navigation device 10 is mounted on the flying object 100 and causes the flying object 100 to fly by inertial navigation using inertial navigation information including the position, speed, and posture of the flying object 100. As a specific example, the flying object 100 is fired from the launching mother body 71 and guided flying toward the threat target 72. The flying body 100 is also referred to as a guided flying body.
It is assumed that the flying body 100 can receive the track information observed by the launching base 71 by the radar from the launching base 71 through the data link from the launching base 71 from the launching base 71 to the track 1. However, it is assumed that the flying object 100 cannot receive the radar information from the launching mother 71 because the radar from the launching mother 71 does not reach at the position beyond the track 1 from the launching mother 71.

  The observation device 20 observes flight state information representing the flight state of the flying object 100. Specifically, the observation device 20 observes the flight state information 63 including the angle of the flying object 100 and the distance to the flying object 100. The observation device 20 is mounted on a moving body 210 that moves in the vicinity of the flight path of the flying object or a ground device 220 provided in the vicinity of the flight path of the flying object. The mobile body 210 and the ground device 220 can acquire the flight state information 63 of the flying body by transmitting a radar to the flying body that guides and flies along the flight path. Specifically, the moving body 210 is a wingman or a consort ship. The ground device 220 is specifically a friendly radar site.

The network device 30 is a sensor network that communicates with the observation device 20 and communicates with the navigation device 10. Communication between the network device 30 and the observation device 20 and communication between the network device 30 and the navigation device 10 are kept secret. The observation device 20 uplinks the flight state information 63 to the network device 30, and the network device 30 data links the track information 62 to the navigation device 10.
The network device 30 receives, from the observation device 20, the flight state information 63 of the flying object 100 guided and flying along the flight path as the track information 62.

  In the network in-flight alignment in the navigation system 500, the error of the inertial navigation of the flying object 100 is corrected by the track information 62 provided via the network device 30 that is a sensor network. The track information 62 includes the flying object angle and distance. After the launcher 71 firearm control radar is no longer able to track the flying object 100, if it is a more powerful ally radar site or a fellow warship or wingman closer to the flying object 100, the flying object track Information can be obtained.

FIG. 3 is a diagram showing a configuration of the navigation apparatus 10 according to the present embodiment.
As shown in FIG. 3, the navigation apparatus 10 is a computer. The navigation device 10 includes hardware such as a processor 910, a memory 920, and a communication device 950. The processor 910 is connected to other hardware via a signal line, and controls these other hardware.
The navigation device 10 includes an information request unit 11, a correction amount calculation unit 12, a control unit 13, and a storage unit 14 as components. The functions of the information request unit 11, the correction amount calculation unit 12, and the control unit 13 are realized by software. The storage unit 14 is realized by the memory 920.

FIG. 4 is a diagram showing a configuration of the observation apparatus 20 according to the present embodiment.
As shown in FIG. 4, the observation device 20 is a computer. The observation device 20 includes hardware such as a processor 910, a memory 920, an observation sensor 24, and a communication device 950. The processor 910 is connected to other hardware via a signal line, and controls these other hardware.
The observation apparatus 20 includes a flying object observation unit 21 and a storage unit 23 as components. The function of the flying object observation unit 21 is realized by software. The storage unit 23 is realized by the memory 920.
The observation sensor 24 is a radar, for example.

FIG. 5 is a diagram showing a configuration of the network device 30 according to the present embodiment.
As shown in FIG. 5, the network device 30 is a computer. The network device 30 includes hardware such as a processor 910, a memory 920, and a communication device 950. The processor 910 is connected to other hardware via a signal line, and controls these other hardware.
The network device 30 includes an information storage unit 31, an information extraction unit 32, and an information storage unit 33 as components. The functions of the information storage unit 31 and the information extraction unit 32 are realized by software. The information storage unit 33 is realized by the memory 920.

In the following description, each device of the navigation device 10, the observation device 20, and the network device 30 may be simply referred to as each device. Each device has a processor 910, a memory 920, and a communication device 950. Since these hardware functions are common, the description will be given with the same reference numerals.
Moreover, each part of each apparatus of the navigation system 500 shall mean each part implement | achieved by a processor. Each device of the navigation system 500 stores a program for realizing the function of each part of each device in the auxiliary storage device. The program of each device is read into the memory 920 by the processor 910 and executed by the processor 910.

  The processor 910 is an IC (Integrated Circuit) that performs arithmetic processing. Specific examples of the processor 910 are a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a GPU (Graphics Processing Unit).

The memory 920 is a storage device that temporarily stores data. Specific examples of the memory 920 are SRAM (Static Random Access Memory) and DRAM (Dynamic Random Access Memory).
Although not shown, each device includes an auxiliary storage device. The auxiliary storage device is a storage device that stores data. As an example, the auxiliary storage device is an HDD (Hard Disk Drive). The auxiliary storage device may be an SD (registered trademark) (Secure Digital) memory card, CF (CompactFlash), NAND flash, flexible disk, optical disk, compact disk, Blu-ray (registered trademark) disk, DVD (Digital Versatile Disk), or the like. It may be a portable storage medium.

  The communication device 950 is a device for communicating with an external device. The observation device 20 uplinks data to the network device 30 via the communication device 950. Further, the network device 30 performs a data link to the navigation device 10 via the communication device 950.

  Each device may include only one processor or a plurality of processors. A plurality of processors may execute a program that realizes the function of each unit of each device in cooperation.

*** Explanation of operation ***
A navigation method 510 and navigation processing S100 in the navigation system 500 according to the present embodiment will be described with reference to FIG.

<Flying object observation process S10 of observation device 20>
In step S110, the flying object observation unit 21 of the observation apparatus 20 executes the flying object observation process S10. The flying object observation unit 21 uses the observation sensor 24 to observe the flight state information 63 including the angle of the flying object 100 and the distance to the flying object 100. Specifically, the flying object observation unit 21 irradiates the flying object 100 with radar using the observation sensor 24, thereby determining the angle of the flying object 100 and the distance from the observation device 20 to the flying object 100. The flight state information 63 including it is observed. The flying object observation unit 21 transmits the flight state information 63 observed using the observation sensor 24 to the network device 30 via the communication device 950.
As described above, the observation device 20 is mounted on the mobile body 210 such as a consort ship and a consort plane that can observe the flight state information 63 of the flying object 100. Alternatively, the observation device 20 is mounted on a ground device 220 such as a friendly radar site provided on the ground where the flight state information of the flying object 100 can be observed.

<Information Storage Processing S20 of Network Device 30>
In step S120, the information storage unit 31 of the network device 30 executes an information storage process S20. The information storage unit 31 stores the flight state information 63 transmitted from the flying object observation unit 21 in the information storage unit 33 as the track information 62. Specifically, the flight state information 63 includes the time when the flight state information is observed, the angle of the flying object 100, and the distance from the observation device 20 to the flying object 100.

<Information Request Process S30 of Navigation Device 10>
In step S130, the information request unit 11 of the navigation device 10 executes the information request process S30. The information request unit 11 transmits an information request signal 61 that requests the network device 30 for track information used for calculating the correction amount of the inertial navigation information. As a specific example, the information request unit 11 transmits an information request signal 61 including the time of necessary track information to the network device 30 in accordance with an instruction from the control unit 13 that performs inertial navigation calculation.

<Information Extraction Processing S40 of Network Device 30>
In step S140, the information extraction unit 32 of the network device 30 executes an information extraction process S40. When receiving the information request signal 61 from the information request unit 11, the information extraction unit 32 extracts the track information 62 from the information storage unit 33 based on the information request signal 61. The information extraction unit 32 transmits the extracted track information to the navigation device 10 via the communication device 950. Specifically, the information extraction unit 32 extracts the requested track information 62 from the information storage unit 33 based on the time included in the information request signal 61.

In addition, the information extraction unit 32 formats the extracted track information 62 and transmits the formatted track information 62 to the navigation device 10. Specifically, the information extraction unit 32 packs the track information 62 into a fixed format so that the information necessary for the Kalman filter process is included without excess or deficiency. As shown in FIG. 1, as the track information ^{62, t, y ~, h} , H, R is defined as fixed format. Here, subscripts are omitted. t is the time. y ^~ is information such the observed angle and distance, i.e., track information. h is a relational expression between the track information and PVA (Position Velocity Attitude) information of the flying object 100, that is, an observation equation. The PVA information is inertial navigation information of position, velocity, and attitude used for inertial navigation calculation. H is a Jacobian matrix obtained by partial differentiation of h with PVA information, that is, an observation matrix. R is the dispersion of the track information, that is, the accuracy of the track information. The information extraction unit 32 packs these pieces of information into fixed formats t, y ^to , h, H, R, packetizes them, and transmits them to the navigation device 10.

<Correction amount calculation process S50 of the navigation device 10>
In step S150, the correction amount calculation unit 12 of the navigation device 10 executes a correction amount calculation process S50. The correction amount calculation unit 12 receives the track information 62 stored in the information storage unit 33 of the network device 30. The correction amount calculation unit 12 receives the track information 62 transmitted by the information extraction unit 32 of the network device 30. The correction amount calculation unit 12 calculates the correction amount of the inertial navigation information of the flying object 100 based on the received track information 62.
Then, the control unit 13 guides and flies the flying object by inertial navigation using the inertial navigation information corrected by the correction amount.

The correction amount calculation process S50 of the navigation apparatus 10 adopting the network in-flight alignment according to the present embodiment will be described with reference to FIG. FIG. 7 shows a block diagram of specific processing of network in-flight alignment. Most of the network in-flight alignment processing is Kalman filter processing. FIG. 7 shows details of the process of the Kalman filter.
In the correction amount calculation process S50, the correction amount calculation unit 12 integrates the PVA information, that is, the position, velocity, and attitude, that is, the inertial navigation information 64 by inertial navigation calculation, and simultaneously updates the error covariance matrix of the PVA information. Are performed sequentially. Note that PVA information is standardized or standardized between devices that perform network in-flight alignment, such as using latitude, longitude, and altitude as positions, and using a local horizontal system for speed and orientation.
Track information 62 of the flying object 100 provided from the network device 30 is fixed format t to information required for the Kalman filter process is and no less, y ^{~, h,} H, are packetized packed in R . Fixed format ^{t, y ~, h, H} , details of R are as described above.

The correction amount calculation unit 12 buffers or tracks the track information 62 provided from the network device 30 by rearranging the time as a key, and periodically performs the following processing to maintain or improve the accuracy of inertial navigation. .
(1) Interpolation or extrapolation of PVA information and its covariance to observation time (2) Residual calculation (3) Gain calculation (4) Correction amount calculation (5) Inertial navigation information 64, that is, correction of PVA information Thus, even when the flying object 100 has a long range, the accuracy in the initial / middle guidance phase is set so that the flying object 100 enters the terminal guidance phase and the threat target 72 enters the range where lock-on can be performed after the target search and the track start. It can be secured.

*** Other configurations ***
In the present embodiment, the information extraction unit 32 of the network device 30 formats the track information extracted from the information storage unit 33 and links the data to the navigation device 10. The information storage unit 31 may perform formatting. When the information storage unit 31 stores the track information 62 in the information storage unit 33, the track information 62 may be formatted. Alternatively, the observation device 20 may perform the formatting. When the flying object observation unit 21 of the observation device 20 uplinks the flight state information 63 to the network device 30, the flight state information 63 may be formatted and uplinked to the network device 30.

In the present embodiment, the function of each part of each device is realized by software. However, as a modification, the function of each part of each device may be realized by hardware.
Specifically, in FIGS. 3 to 5, a processing circuit may be provided instead of the processor 910 and the memory 920 of each device. That is, each device includes hardware such as a processing circuit and a communication device 950.

  The processing circuit is a dedicated electronic circuit that realizes the function of each unit and the storage unit of each device. Specifically, the processing circuit is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA, an ASIC, or an FPGA. Or what combined these corresponds. GA is an abbreviation for Gate Array. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field-Programmable Gate Array.

  As another modification, the function of each unit of each device may be realized by a combination of software and hardware. That is, some functions of each unit of each device may be realized by dedicated hardware, and the remaining functions may be realized by software.

  The processor 910, the memory 920, and the processing circuit of each device of the navigation system 500 are collectively referred to as a “processing circuit”. In other words, the functions and storage units of each unit of the navigation system 500 are realized by the processing circuitry.

  “Part” may be read as “process” or “procedure” or “processing”. Further, the function of “unit” may be realized by firmware.

*** Explanation of effects of this embodiment ***
As described above, the navigation system 500 according to the present embodiment uses the sensor network that integrates the information of the consort ships, the consort planes, and the ally radar site for the accuracy of the inertial navigation that causes the guidance error in the first mid-term guidance phase. It aims to maintain and improve by in-flight alignment method. According to navigation system 500 according to the present embodiment, it is possible to overcome the vulnerability to obstruction and deception, which is a concern in the case of in-flight alignment using GPS.
In addition, according to the navigation system 500 according to the present embodiment, in order to improve the accuracy of inertia calculation, it is possible to perform guided flight without using a high-priced inertial measurement device that is not suitable for a guided flying object that is a one-shot product. It is possible to configure a technology and a navigation device that can increase the range of the glaze.
In navigation system 500 according to the present embodiment, the flying object position, velocity and attitude information and sensor network information are standardized or standardized in a predetermined format. Therefore, according to the navigation system 500 according to the present embodiment, it is possible to cope with the track information of the flying object by the sensors on any set work without changing the software algorithm mounted on the flying object. Become.
Further, according to the navigation system 500 according to the present embodiment, since the communication between the comrades on the sensor network is concealed, the accuracy of the inertial device of the flying object can be obtained without worrying about disturbance and deception like GPS. Improvements can be made.

  In the embodiment described above, each part of each device of the navigation system constitutes the navigation system as an independent functional block. However, the configuration may not be as in the above-described embodiment, and the configuration of each device of the navigation system is arbitrary. The functional blocks of each device of the navigation system are arbitrary as long as the functions described in the above-described embodiments can be realized. You may comprise each apparatus of a navigation system by these functional blocks by what kind of other combination or arbitrary block configurations.

Although Embodiment 1 was described, you may implement combining several parts among this Embodiment. Alternatively, one part of this embodiment may be implemented. In addition, this embodiment may be implemented in any combination as a whole or in part.
The above-described embodiments are essentially preferable examples, and are not intended to limit the scope of the present invention, its application, and uses, and various modifications can be made as necessary. .

  DESCRIPTION OF SYMBOLS 10 Navigation apparatus, 11 Information request part, 12 Correction amount calculation part, 13 Control part, 14, 23 Storage part, 20 Observation apparatus, 21 Flying object observation part, 24 Observation sensor, 30 Network apparatus, 31 Information storage part, 32 Information extraction unit, 33 information storage unit, 61 information request signal, 62 track information, 63 flight state information, 64 inertial navigation information, 100 flying body, 210 moving body, 220 ground device, 71 launching body, 72 threat target, 500 Navigation system, 510 navigation method, S10 flying object observation process, S20 information storage process, S30 information request process, S40 information extraction process, S50 correction amount calculation process, S100 navigation process, 910 processor, 920 memory, 950 communication device.

Claims (7)

A navigation device that is mounted on a flying object and that causes the flying object to fly by inertial navigation using inertial navigation information including the position, velocity, and attitude of the flying object, and a flight that represents the flight state of the flying object A navigation system comprising an observation device that observes state information, and a network device that communicates with the navigation device and communicates with the observation device,
The observation device is
The flight state information including an angle of the flying object and a distance to the flying object is observed, and the flying object observation unit transmits the observed flight state information to the network device,
The network device is:
An information storage unit that stores the flight state information transmitted from the flying object observation unit in an information storage unit as track information;
The navigation device is
A navigation system comprising a correction amount calculation unit that receives the track information stored in the information storage unit and calculates a correction amount of the inertial navigation information of the flying object based on the received track information. The observation device is
The navigation system according to claim 1, wherein the navigation system is mounted on a moving body capable of observing the flight state information of the flying body. The observation device is
The navigation system according to claim 1, wherein the navigation system is mounted on a ground device provided on the ground where the flight state information of the flying object can be observed.   The navigation system according to any one of claims 1 to 3, wherein communication between the network device and the observation device and communication between the network device and the navigation device are concealed. The navigation device is
An information requesting unit for transmitting an information request signal for requesting the network device for the track information used for calculating the correction amount of the inertial navigation information;
The network device is:
When receiving the information request signal from the information request unit, the information extraction unit extracts the track information from the information storage unit based on the information request signal, and transmits the extracted track information to the navigation device,
The correction amount calculation unit
The navigation system according to claim 1, wherein the track information transmitted by the information extraction unit is received. The information extraction unit includes:
The navigation system according to claim 5, wherein the extracted track information is formatted and the formatted track information is transmitted to the navigation device. A navigation device that is mounted on a flying object and that causes the flying object to fly by inertial navigation using inertial navigation information including the position, velocity, and attitude of the flying object, and a flight that represents the flight state of the flying object In a navigation method of a navigation system comprising: an observation device that observes state information; and a network device that communicates with the navigation device and communicates with the observation device.
The flying object observation unit of the observation device observes the flight state information including the angle of the flying object and the distance to the flying object, and transmits the observed flight state information to the network device.
The information storage unit of the network device stores the flight state information transmitted from the flying object observation unit in an information storage unit as track information,
The correction amount calculation unit of the navigation device receives the track information stored in the information storage unit, and calculates a correction amount of the inertial navigation information of the flying object based on the received track information. Method.

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