초록 ▼

The target tracking system has high tracking reliability at small servo load and comprises a plural number of groups of target sensors having tracking signal travelling times which vary from one group to the other and defining respective lines of sight, a servo system causing the lines of sight to t

The target tracking system has high tracking reliability at small servo load and comprises a plural number of groups of target sensors having tracking signal travelling times which vary from one group to the other and defining respective lines of sight, a servo system causing the lines of sight to track the target, a target estimator for estimating the movement of the target, a servo estimator for estimating the movement of the servo system, and a regulator which identically controls the servo system and the servo estimator such that the vectorial difference between the estimate of the target movement and the estimate of the servo movement is caused to approach zero. During the target tracking operation, vectorial target deviation signals which are generated by groups of angle sensors, are processed by multipliers using respective matrices in order to produce related combined target deviation signals. The thus processed vectorial target deviation signals are directly applied to the servo system and the servo estimator in a manner as if there would be present only one respective angle sensor producing the combined target deviation signal.

대표청구항 ▼

A target tracking system comprising: at least one angle sensor; said at least one angle sensor containing at least one antenna defining at least one line of sight; said at least one angle sensor measuring angular deviations of a target from said at least one line of sight; at least one range sensor

A target tracking system comprising: at least one angle sensor; said at least one angle sensor containing at least one antenna defining at least one line of sight; said at least one angle sensor measuring angular deviations of a target from said at least one line of sight; at least one range sensor for measuring the distance between said target and said at least one range sensor; said at least one range sensor containing at least one antenna; each one of said at least one angle sensor and said at least one range sensor defining at least one transmission range and at least one reception range; a servo system operatively associated with said at least one angle sensor and said at least one range sensor; said servo system continuously laying said at least one antenna of said at least one angle sensor and said at least one antenna of said at least one range sensor towards said target such that said target is continually present within said at least one transmission range and said at least one reception range of said at least one antenna; means for generating a position sensor signal; a servo estimator for estimating the state of movement of said servo system by means of said position sensor signal; said servo estimator constituting a model of said servo system; said at least one angle sensor and said at least one range sensor generating respective target sensor signals; a target estimator operatively associated with said at least one angle sensor, said at least one range sensor and said position sensor signal generating means; said target estimator estimating the state of movement of said target on the basis of said position sensor signal and all of said target sensor signals; said target estimator constituting a model of the movement of said target; a regulator for identically controlling said servo system and said servo estimator by means of a common control signal; said regulator constituting an inverse system with respect to the residual portion of the target tracking system; said at least one angle sensor generating at least one target deviation signal; at least one multiplier operatively associated with said at least one angle sensor; said at least one multiplier transforming with minimum delay said at least one target deviation signal originating from said at least one angle sensor into at least one common control signal for said servo system and said servo estimator; said at least one multiplier defining at least one multiplier matrix; and said at least one multiplier generating as said common control signal, at least one control vector constituting the product of said at least one multiplier matrix and said at least one target deviation signal.