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WO2004088237A1 - Autodirecteur dote d'un systeme de cardans interne de tangage et de lacet - Google Patents

Autodirecteur dote d'un systeme de cardans interne de tangage et de lacet Download PDF

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Publication number
WO2004088237A1
WO2004088237A1 PCT/EP2004/002956 EP2004002956W WO2004088237A1 WO 2004088237 A1 WO2004088237 A1 WO 2004088237A1 EP 2004002956 W EP2004002956 W EP 2004002956W WO 2004088237 A1 WO2004088237 A1 WO 2004088237A1
Authority
WO
WIPO (PCT)
Prior art keywords
gimbal
axis
roll axis
seeker head
cardanic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2004/002956
Other languages
German (de)
English (en)
Inventor
Hagen Kempas
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bodenseewerk Geratetechnik GmbH
Diehl Defence GmbH and Co KG
Original Assignee
Bodenseewerk Geratetechnik GmbH
Diehl BGT Defence GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bodenseewerk Geratetechnik GmbH, Diehl BGT Defence GmbH and Co KG filed Critical Bodenseewerk Geratetechnik GmbH
Priority to EP04722158.5A priority Critical patent/EP1608931B1/fr
Publication of WO2004088237A1 publication Critical patent/WO2004088237A1/fr
Anticipated expiration legal-status Critical
Priority to NO20054941A priority patent/NO338653B1/no
Ceased legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2253—Passive homing systems, i.e. comprising a receiver and do not requiring an active illumination of the target
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2213—Homing guidance systems maintaining the axis of an orientable seeking head pointed at the target, e.g. target seeking gyro
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2273—Homing guidance systems characterised by the type of waves
    • F41G7/2293—Homing guidance systems characterised by the type of waves using electromagnetic waves other than radio waves

Definitions

  • the invention relates to a seeker head with a roll axis and a pitch-yaw inner gimbal system, comprising an inner gimbal, which is pivotably mounted on a bearing structure about a first gimbal axis, and an outer gimbal frame, which carries a finder system of the seeker head, and which extends around a second, is pivotally mounted to the first vertical gimbal on the inner gimbal.
  • Such search heads are used in particular in target-tracking missiles.
  • An optical system as a viewfinder system generates an image of an object scene containing the target on a detector. From the signals of the detector, signals are obtained which keep the optical axis of the optical system aligned with the target. In addition, steering signals are obtained from the signals of the detector, through which the missile is guided to the target.
  • a platform carrying the optical system and thus the direction of the optical axis of the optical system are decoupled from the movements of the missile by an inertial measuring system. If a control loop keeps the optical axis aligned with the target, the optical axis corresponds to the line of sight from the missile to the target.
  • the rate of rotation of the line of sight in the inertial space can then be determined from the movement of the optical axis relative to the stabilized platform.
  • the steering signals are made proportional to the rate of rotation of the line of sight.
  • the platform must be gimbaled so that the optical axis of the optical system can assume any position within a certain solid angle.
  • the gimbal mounting can be a pitch-yaw mounting.
  • a first gimbal is about a first axis substantially transverse to the longitudinal axis of the missile, z. B. the pitch axis, pivoted relative to the missile structure.
  • the first gimbal On the first gimbal is a second gimbal about a second axis, for. B. the yaw axis, pivotally mounted, which is perpendicular to the first axis.
  • This second gimbal supports or forms the platform on which the optical system sits.
  • the first gimbal mounted on the missile structure can be the outer gimbal, while the second gimbal forms the inner gimbal.
  • the first gimbal mounted on the missile structure can then also be the inner gimbal, the second gimbal bearing or forming the platform being the outer gimbal. In this case one speaks of a " réellekardansystem ".
  • the gimbal system then sits within the platform. This latter arrangement is preferred for spatial reasons.
  • the swivel angle of the platform and thus the squint angle, which form the optical axis with the longitudinal axis of the missile, are limited for design reasons.
  • the viewfinder can only capture a target in a limited field of view.
  • a seeker head with pitch-yaw inner gimbal system is described, for example, in DE 195 35 886 AI or EP 0 766 065 B1.
  • a first, wave-like gimbal is rotatably mounted in the missile structure about a roll axis coinciding with the longitudinal axis of the missile.
  • This first gimbal can be rotated around the roll axis in an angular range of 360 ° with respect to the missile structure.
  • a second gimbal is pivotally mounted on the first gimbal frame about a pitch axis running perpendicular to the roll axis.
  • This second gimbal carries the optical system of the seeker head.
  • the second gimbal can be mounted in such a way that the optical axis of the optical system can be pivoted through an angle of approximately 90 ° with respect to the longitudinal axis of the missile. So squint angles of up to 90 ° are possible, in every direction around the roll axis around.
  • a search head constructed in this way can thus be aimed at a target within a half space.
  • a disadvantage of such roll-nick gimbal systems is that they show a singularity in the area of the roll axis: If the line of sight to the target, which the optical axis of the optical system is supposed to track by rotating the gimbal frame, coincides with the roll axis or runs close to it , then even small movements of the optical axis require large angular movements of the rolling frame. If z. For example, if the line of sight to the target is moved through the roll axis, then the roller frame, in order to track the optical axis of this line of sight, would have to perform a rotation of 180 ° practically in an infinitely short time. This exceeds the possibilities of conventional servomotors.
  • the invention has for its object to provide a gimbal system for a seeker head, in which the tracking of the platform and the finder system takes place without singularities, but which allows large squint angles and the detection of targets in a large field of view.
  • this object is achieved in that the first gimbal axis forms an acute angle with the roll axis and the bearing structure is in turn mounted rotatably about the roll axis.
  • the gimbal system sits at an angle to the roll axis.
  • the swivel range of the outer gimbal with the viewfinder system is therefore asymmetrical to the roll axis. If you consider the central position of the inner frame, which can be swiveled around the first gimbal axis, the following results: If ⁇ denotes the acute angle and 2ß the swivel range of the outer frame around the second gimbal axis, then the maximum achievable squint angle between the roll axis and the axis of the viewfinder system 90 ° - ⁇ + ß. A larger squint angle can therefore be achieved.
  • the target is in azimuth from that by the Swiveling range of the gimbal system moves certain solid angle, this can be compensated for by rotating the gimbal system about the roll axis.
  • the solid angle determined by the swivel range of the gimbal system is tracked to the target.
  • the bearing structure rotatably supported about the roll axis is additionally rotatably supported about its own longitudinal axis.
  • the associated introduction of a further degree of freedom of rotation means that rotary movements of the roller frame can be compensated for by rotating the bearing structure about its longitudinal axis with the opposite direction of rotation. Rolling angles of over 360 °, which lead to excessive stress on electrical connecting lines and high-pressure couplings for gas feeds, no longer occur. The reliability or lifespan of the seeker head is thus increased.
  • the use of cost-intensive, high-pressure rotary couplings and slip rings for electrical taps can be dispensed with.
  • the mass to be rotated can be reduced by decoupling the pitch-yaw gimbal system from rolling movements of the rolling frame by means of the bearing structure which can be rotated about its longitudinal axis. Lower drive power is therefore required for movements around the roll axis and the overall volume of the roller frame can be reduced.
  • the pitch-yaw gimbal system is fixed with respect to its roll position to the missile structure by means of fixing means.
  • the fixing means can be toothed elements in the form of gearwheels, a gearwheel being integrated in the missile structure and a gearwheel between the pitch-yaw frame system and the new degree of freedom of rotation.
  • the pitch-yaw frame system rolls in the opposite direction about the longitudinal axis of the bearing structure when it is rotated about the roll axis.
  • the gears are molded parts made of plastic with a low weight. Plastic can be used because only small moments have to be transmitted. It makes sense to have Gears the same number of teeth to achieve a gear ratio of one.
  • the pitch-yaw gimbal system By rotating the roll axis and simultaneously untwisting it by rotating the bearing structure about its longitudinal axis, hereinafter also called the wobble axis, and fixing it by means of the fixing means, the pitch-yaw gimbal system is able to move around the longitudinal axis of the missile, ie. H. the roll axis to wobble at a fixed angle of (90 ° - ⁇ ) without generating rotating components in the roll axis.
  • the wobble angle is usually in a range of 15-30 °.
  • the mechanical fixation eliminates the need for drive and tapping elements for generating a rotary movement of the bearing structure about its longitudinal axis, for example in the form of an electric motor and electrical connecting lines. This results in further savings in terms of mass and volume.
  • the clearing angle at which the optical axis of the optical system can be deflected by pivoting movements about the first and the second cardan axis advantageously contains the roll axis.
  • an inertia measuring unit can be provided, by means of which servomotors can be controlled about the first and the second gimbal axis, an actuating motor acting around the roll axis being provided which, when the inner gimbal frame approaches its stop position, can be controlled in the sense of a tracking of this inner gimbal away from the stop position.
  • the axis of the finder system can thus be directed to any point within a large solid angle extending around the roll axis. Stabilization is carried out using the pitch-yaw gimbal system. This nick
  • Yaw gimbal system also has no singularity in the area of the roll axis.
  • the pitch-yaw Cardan system only normal adjustment movements. There is no need for a 180 ° turn as with a roll-pitch gimbal system.
  • FIG. 1 shows a longitudinal section through a seeker head with an inclined pitch-yaw gimbal system and an additional tracking movement about the roll axis.
  • FIG. 2 is a block diagram illustrating the tracking of the
  • Finder system for a line of sight to a target.
  • Fig. 3 is a diagram illustrating the enlargement of the
  • Range of allowable squint angles of the seeker head of FIG. 1 1.
  • FIG. 4 shows a longitudinal section through a seeker head with an inclined pitch-yaw gimbal system and with a bearing structure rotatably mounted about a roll axis and its own longitudinal axis.
  • FIG. 5 shows a longitudinal section through a seeker head according to FIG. 4 with
  • Fixing means for the pitch-yaw gimbal system with respect to a roll position of the missile structure Fixing means for the pitch-yaw gimbal system with respect to a roll position of the missile structure.
  • 1, 10 denotes the tip of the missile structure of a target-tracking missile.
  • the tip 10 is closed by a spherical window (dome) 12.
  • a search head Behind the dome 12 is a search head, which is designated 14.
  • the seeker head 14 contains a table 16 which is rotatable about a roll axis 18 coinciding with the longitudinal axis of the missile in the tip 10 of the missile.
  • body structure is stored.
  • a sleeve-shaped bearing body 20 sits on the table.
  • the bearing body 20, also called the bearing structure, is arranged inclined to the roll axis 18.
  • an inner frame 22 is pivotally mounted about a first gimbal axis 24 perpendicular to the longitudinal axis of the bearing body 20. This is shown in Fig. 1 to the right of the longitudinal axis of the bearing body 20. Due to the inclined arrangement of the bearing body
  • the first gimbal axis 24 forms an acute angle ⁇ with the roll axis (FIG. 3).
  • a section perpendicular to the section on the right-hand side is shown to the left of the longitudinal axis of the bearing body 20.
  • an outer frame, which is generally designated by 26 is pivotably mounted on the inner frame 22.
  • the outer frame 26 is pivotally mounted about a second cardan shaft 28, which runs perpendicular to the first cardan shaft 24. If the first gimbal axis 24 in the right part of FIG. 1 runs in the paper plane of FIG. 1, then the second gimbal axis 28 runs perpendicular to the paper plane of the right side of FIG. 1 in relation to this.
  • a viewfinder system 30 in the form of an imaging optical system sits on the outer frame 26.
  • This viewfinder system 30 contains an annular concave mirror 32 which is mounted with its central opening on the outer frame 26.
  • the outer frame 26 has a dome part 34.
  • the dome part 34 carries
  • Crosspieces 36 which carry a weakly convex secondary mirror 38 facing the concave mirror 32.
  • the dome part 34 forms a holder 40 for a lens optic 42.
  • Parallel incident light from an object scene lying in infinity is reflected by the concave mirror 32 onto the secondary mirror 38 and directed by the latter to the lens optic 42.
  • the optical system creates a
  • a detector 44 Image of the object scene on a detector 44.
  • the detector 44 is cooled in the usual way by a Joule-Thomson cooler 46 which is arranged inside the sleeve-shaped bearing body 20.
  • an inertial sensor unit 48 is arranged similarly to DE 195 38 886 AI.
  • the cardan axis 24 and 28 and the roll axis 18 intersect at a common intersection 50.
  • the structurally fixed detector 44 is arranged in the region of this common intersection 50.
  • the dome 12 is around the intersection 50 curved.
  • the outer gimbal 26 is mounted so that it can be given away on all sides.
  • the gimbals 22 and 26 are arranged within the viewfinder system 30.
  • the viewfinder system 30 sits on the outer gimbal frame 26.
  • the table 16 can be rotated about the roll axis by a servomotor 52.
  • a servomotor 52 At the table 16 sit 54 on a spherical surface 54 magnets 56 with a spherical shell-shaped magnetic yoke 58.
  • the magnets 56 generate a radial magnetic field.
  • Flat coils 60 which are connected to the outer gimbal frame 26, are seated in this radial magnetic field.
  • These magnets 56 and flat coils 60 form torque generators 62 which act directly on the outer gimbal frame 26.
  • This arrangement corresponds in principle to the torque generator arrangement according to EP 0 766 065 B1 and US Pat. No. 5,892,310, the disclosure of which is incorporated by reference.
  • the finder system 30 defines an optical axis 64.
  • the inertia sensor unit 48 controls the torque generators 62 in such a way that they stabilize the finder system 30 in space and decouple it from the movement of the missile.
  • the detector 44 of the viewfinder system 30 delivers storage signals which reflect the storage of a target detected by the viewfinder system from the optical axis 64.
  • the inertial sensors of the inertial sensor unit 48 are acted upon by these storage signals, so that they are precessed in accordance with the storage signals. The stabilized position of the optical axis is then tracked to the target.
  • FIG. 2 schematically shows the stabilization of the finder system 30 in space, the alignment of the optical axis 68 to the target.
  • the inertial sensor unit 48 stabilizes the seeker system 30 in space.
  • the inertial sensor unit 48 controls the torque generators 62 in the usual way. If there is a deposit of the line of sight to a target detected by the finder system 30 from the optical axis 68, then the deposit signals delivered to the finder system 30 are on the inertial sensors of the Inertial sensor unit 48 connected and precess these so that the stabilized optical axis 68 tracks the target.
  • the angle of the gimbal of the gimbal system is determined by angle sensors 70.
  • the roll-setting rotor 52 is controlled by the control device 72 in one or the other direction of rotation.
  • the roll servomotor 52 then rotates the table 16 with the entire gimbal system and the finder system 30 about the roll axis in such a way that the line of sight is again in the adjustment range of the gimbal system.
  • FIG. 3 illustrates the effect of the inclination of the first gimbal axis 24 with respect to the roll axis 18.
  • the first gimbal axis 24 forms an angle ⁇ with the roll axis 18.
  • the inner gimbal 22 is in its central position.
  • the plane of the inner gimbal 22 is then perpendicular to the paper plane in FIG. 3.
  • the outer gimbal 26 is then adjustable about the second gimbal axis 28 perpendicular to the paper plane between two stop positions, which positions 64 A and 64 B are symmetrical to a central position 64 M correspond to the optical axis 64.
  • the angle between the stop position 64 B and the roll axis 18 is ⁇ + 90 ° - ⁇ .
  • the maximum tilt angle of the finder system 30 relative to the roll axis 18 is approximately 70 ° in the embodiment shown.
  • the viewfinder system 30 can thus in the illustrated position of the table 16 an asymmetrical solid angle to the roll axis 18 up to z. B. 70 ° in the paper plane on the right side of Fig. 1. In the azimuth direction, the solid angle is limited by the stop position of the outer gimbal 26. Areas on the left in FIG. 1 are also not recorded because of the asymmetry.
  • optical axis 64 of the viewfinder system 30 can be aligned with the target by the gimbal system.
  • the optical axis 64 of the finder system 30 can thus be aligned with a target within a solid angle of 70 ° around the roll axis 18.
  • FIG. 4 shows a longitudinal section through a seeker head 15.
  • a bearing structure 20 is arranged inclined to the roll axis 18 by a wobble angle of (90 ° - ⁇ ).
  • the bearing structure 20 is rotatably supported about its longitudinal axis or wobble axis 21 and the roll axis 18 by the bearings 23 and 25, respectively.
  • FIG. 5 shows a longitudinal section through the seeker head 15 according to FIG. 4.
  • the fixing means 27 is a gearwheel integrated coaxially to the missile longitudinal axis or roll axis 18 in the missile structure 10.
  • the fixing means 29, also a gearwheel, is arranged at the wobble angle of (90 ° -), which corresponds to 20 ° in the drawing, on the pitch-yaw gimbal system consisting of the inner frame 22 and outer frame 26 with the degree of freedom of rotation of the wobble axis 21.
  • the two gear wheels 27, 29 have different radii and a profile shift matched to them.

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  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Telescopes (AREA)
  • Mounting And Adjusting Of Optical Elements (AREA)
  • Viewfinders (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

L'invention concerne un autodirecteur (14, 15) comprenant un axe de roulis (18), un système à cardans interne de tangage et de lacet et un cadre de cardan (22) interne qui est monté pivotant autour d'un premier axe de cardan (24) dans une structure porteuse (20), et un cadre de cardan (26) externe qui porte un système de recherche (30) de l'autodirecteur et est monté sur le cadre de cardan (22) interne pivotant autour du deuxième axe de cardan (28) qui est perpendiculaire au premier. L'invention vise à produire un système de cardans d'un autodirecteur (14, 15) dans lequel le système de recherche (30) ne présente aucune singularité mais permette un grand angle de concentration et la détection de cibles dans un grand champ de vision. A cet effet, le premier axe de cardan (24) et l'axe de roulis (18) forment un angle aigu (<) et la structure porteuse (20) est, de son côté, montée pivotante autour de l'axe de roulis (18). L'angle solide dans lequel l'axe optique (64) du système de recherche (30) peut être dévié par des rotations autour du premier et du deuxième axe de cardan (24, 28), contient l'angle de roulis (18).
PCT/EP2004/002956 2003-03-29 2004-03-20 Autodirecteur dote d'un systeme de cardans interne de tangage et de lacet Ceased WO2004088237A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP04722158.5A EP1608931B1 (fr) 2003-03-29 2004-03-20 Autodirecteur dote d'un systeme de cardans interne de tangage et de lacet
NO20054941A NO338653B1 (no) 2003-03-29 2005-10-25 Søkerhode med innvendig bikke-slingrekardangsystem

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10313136.1A DE10313136B4 (de) 2003-03-29 2003-03-29 Suchkopf mit Nick-Gier-Innenkardansystem
DE10313136.1 2003-03-29

Publications (1)

Publication Number Publication Date
WO2004088237A1 true WO2004088237A1 (fr) 2004-10-14

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2004/002956 Ceased WO2004088237A1 (fr) 2003-03-29 2004-03-20 Autodirecteur dote d'un systeme de cardans interne de tangage et de lacet

Country Status (4)

Country Link
EP (1) EP1608931B1 (fr)
DE (1) DE10313136B4 (fr)
NO (1) NO338653B1 (fr)
WO (1) WO2004088237A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2446052A (en) * 2007-01-25 2008-07-30 Lfk Gmbh Optical window for an infra-red homing device
DE102009029895A1 (de) * 2009-06-23 2011-01-05 Diehl Bgt Defence Gmbh & Co. Kg Optisches System für einen Flugkörper und Verfahren zum Abbilden eines Gegenstands
CN103049003A (zh) * 2012-10-19 2013-04-17 西安交通大学 一种基于平行均匀线阵的相干信号二维波达角度跟踪方法及装置

Families Citing this family (5)

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DE102005028248C5 (de) 2005-06-17 2018-06-07 Diehl Defence Gmbh & Co. Kg Elektromechanische Einrichtung mit einem um mindestens eine erste und eine zweite Drehachse drehbaren Element
DE102011015515B4 (de) 2011-03-30 2017-07-20 Mbda Deutschland Gmbh Lagerung für einen Suchkopf
DE102015000873A1 (de) * 2015-01-23 2016-07-28 Diehl Bgt Defence Gmbh & Co. Kg Suchkopf für einen Lenkflugkörper
DE102015005707A1 (de) 2015-05-04 2016-11-10 Roderich Rüger Modularer IR.Hochleistungs-Suchkopf
CN112325709A (zh) * 2020-11-03 2021-02-05 西安航天动力技术研究所 一种用于导弹导引头便携式目标空间运动特性模拟平台

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US6036140A (en) * 1997-02-21 2000-03-14 Buck Werke Gmbh & Co. Missile with swingable tracker
US6193188B1 (en) * 1998-11-12 2001-02-27 Raytheon Company Line of sight pointing mechanism for sensors
EP1340957A2 (fr) * 2002-02-28 2003-09-03 Rafael - Armament Development Authority Ltd. Procédé et dispositif de prévention de verrouillage de cardan

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DE3317232A1 (de) 1983-05-11 1984-11-15 Bodenseewerk Gerätetechnik GmbH, 7770 Überlingen Suchkopf fuer zielsuchende flugkoerper
DE3438544A1 (de) * 1984-10-20 1986-04-24 Bodenseewerk Geraetetech Optischer sucher
US4717822A (en) * 1986-08-04 1988-01-05 Hughes Aircraft Company Rosette scanning surveillance sensor
EP0766065A2 (fr) * 1995-09-27 1997-04-02 Bodenseewerk Gerätetechnik GmbH Arrangement générateur de couple
DE19535886A1 (de) 1995-09-27 1998-05-14 Bodenseewerk Geraetetech Suchkopf für Flugkörper
EP0766065B1 (fr) 1995-09-27 2002-04-24 Bodenseewerk Gerätetechnik GmbH Arrangement générateur de couple
US6036140A (en) * 1997-02-21 2000-03-14 Buck Werke Gmbh & Co. Missile with swingable tracker
DE19824899C1 (de) 1998-06-04 1999-08-26 Lfk Gmbh Zielsuchkopf und Verfahren zur Zielerkennung- und Verfolgung mittels des Zielsuchkopfes
US6193188B1 (en) * 1998-11-12 2001-02-27 Raytheon Company Line of sight pointing mechanism for sensors
EP1340957A2 (fr) * 2002-02-28 2003-09-03 Rafael - Armament Development Authority Ltd. Procédé et dispositif de prévention de verrouillage de cardan

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2446052A (en) * 2007-01-25 2008-07-30 Lfk Gmbh Optical window for an infra-red homing device
GB2446052B (en) * 2007-01-25 2011-08-10 Lfk Gmbh Optical window for an infra-red homing head
DE102009029895A1 (de) * 2009-06-23 2011-01-05 Diehl Bgt Defence Gmbh & Co. Kg Optisches System für einen Flugkörper und Verfahren zum Abbilden eines Gegenstands
US8354626B2 (en) 2009-06-23 2013-01-15 Diehl Bgt Defence Gmbh & Co. Kg Optical system for a missile, and method for imaging an object
DE102009029895B4 (de) * 2009-06-23 2018-01-25 Diehl Defence Gmbh & Co. Kg Optisches System für einen Flugkörper und Verfahren zum Abbilden eines Gegenstands
CN103049003A (zh) * 2012-10-19 2013-04-17 西安交通大学 一种基于平行均匀线阵的相干信号二维波达角度跟踪方法及装置
CN103049003B (zh) * 2012-10-19 2016-03-30 西安交通大学 一种基于平行均匀线阵的相干信号二维波达角度跟踪方法及装置

Also Published As

Publication number Publication date
DE10313136B4 (de) 2017-05-11
NO20054941L (no) 2005-12-28
NO20054941D0 (no) 2005-10-25
DE10313136A1 (de) 2004-10-07
NO338653B1 (no) 2016-09-26
EP1608931A1 (fr) 2005-12-28
EP1608931B1 (fr) 2015-07-08

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