Process to control the trajectory of a spinning projectile
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
F41G-007/00
F42B-015/01
F42B-015/00
G01C-015/14
G01S-005/02
출원번호
US-0848137
(2004-05-19)
우선권정보
FR-03 06003(2003-05-19)
발명자
/ 주소
Lamorlette,G챕rard
출원인 / 주소
GIAT Industries
대리인 / 주소
Oliff &
인용정보
피인용 횟수 :
7인용 특허 :
7
초록▼
A process to control the trajectory of a spinning projectile. The projectile's accelerations are measured by means of an inertial unit in three axes within a reference linked to the projectile so as to prepare the piloting commands for the projectile's trajectory. The velocity vector V components (
A process to control the trajectory of a spinning projectile. The projectile's accelerations are measured by means of an inertial unit in three axes within a reference linked to the projectile so as to prepare the piloting commands for the projectile's trajectory. The velocity vector V components (VX, VY, VZ) of the projectile are measured using a global positioning system (GPS) along three axes and within a land reference (GX, GY, GZ). Based on these measurements, the components (Γ X,ΓY,ΓZ) of the acceleration vector Γ are evaluated in the same land reference (GX, GY, GZ). At each of these measurements and periodical evaluations by the GPS, the Euler angles of the projectile are recalculated by combining the resultants of the velocity (V) and acceleration (Γ) measurements given by the GPS and those of the acceleration given by the inertial unit.
대표청구항▼
What is claimed is: 1. A process used in a computation device of a spinning projectile to control the trajectory of the spinning projectile and an inertial unit in the spinning projectile measures the projectile's accelerations in three axes within a reference linked to the projectile so as to prep
What is claimed is: 1. A process used in a computation device of a spinning projectile to control the trajectory of the spinning projectile and an inertial unit in the spinning projectile measures the projectile's accelerations in three axes within a reference linked to the projectile so as to prepare the piloting commands for the projectile's trajectory, wherein: measuring the velocity vector V components (VX, V Y, VZ) of the projectile using a global positioning system (GPS) along three axes and within a land reference (GX, G Y, GZ) evaluating based on the velocity vector component measurements, the components (ΓX,ΓY,Γ Z) of the acceleration vector Γ in the same land reference (GX, GY, GZ); and recalculating, at each of the measurements and periodic evaluations by the GPS, the Euler angles of the projectile by combining the resultants of the velocity (V) and acceleration (Γ) measurements given by the GPS and those of the acceleration given by the inertial unit in order to adjust a piloting device of the spinning projectile. 2. The process according to claim 1, wherein for the calculations of the Euler angles used for piloting, instead of the acceleration values measured by the inertial unit, so-called corrected acceleration values are used: description="In-line Formulae" end="lead"γ CX=γXΓ/γ; γCY=γ YΓ/γ; γCZ=γZΓ/γ description="In-line Formulae" end="tail" expressions in which Γ=√{square root over ((ΓX2+ΓY2+Γ Z2))} is the norm of the projectile's acceleration vector in the land reference such as evaluation thanks to the positioning system and γ=√{square root over ((γX2+γ Y2+γZ2))} is the norm of the projectile's acceleration vector in the reference linked to the projectile such as measured by the inertial unit. 3. The process according to claim 2 having a canard type architecture, wherein the evaluation of the Euler angles is carried out by the computation device during the piloted flight phase using a calculation of the constant of the incidence time expression in which PS is the scalar product of the velocity vector V and the acceleration vector Γ measured or calculated from the GPS (PS={right arrow over (V)}.{right arrow over (Γ)}), and Δ' is a reduced discriminant expression in which γCT is a corrected value of the transversal acceleration of the projectile (γCT =√{square root over ((γCY2+γ CZ2))}). 4. The process according to claim 3, wherein, when the projectile is in the piloted flight phase: the Euler angles of the projectile are evaluated by the following formulae: pitch angle θ (between-π/2 and +π/2): yaw angle ψ (between-π and +π): roll angle φ: expressions in which: description="In-line Formulae" end="lead"γ Y0=(VX sin ψ-VY cos ψ) /Λ,description="In-line Formulae" end="tail" description="In-line Formulae" end="lead"γ Z0=(U sin θ-VZ)/Λcos θ anddescription="In-line Formulae" end="tail" description="In-line Formulae" end="lead"U 2=V2-Λ2ΓcT2. description="In-line Formulae" end="tail" 5. The process according to claim 4, wherein the evaluation of the components (ΓX,ΓY,ΓZ) of the acceleration vector Γ in the land reference (GX, GY, GZ) will be carried out from N periodical measurements made by the GPS of components (VX, VY, VZ) of the velocity vector V of the projectile in the same land reference and with a sampling interval Δt, measurements to which a KALMAN filter will be applied. 6. The process according to claim 3, wherein, when the projectile is in the ballistic flight phase, the value of the incidence time constant Λ will be rounded up to zero and the projectile's Euler angles will be calculated by the computation device using the following formulae: the pitch θ and yaw ψ angles are equal to: description="In-line Formulae" end="lead"θ =arcsin(VZ/V); ψ=arcsin(VY /V cos θ)description="In-line Formulae" end="tail" the roll angle φ being defined by: expressions in which q and r are respectively the angular pitch and yaw velocities of the projectile in a reference linked to the projectile, velocities measured by the inertial unit. 7. The process according to claim 3, wherein the evaluation of the components (ΓX,ΓY,ΓZ) of the acceleration vector Γ in the land reference (GX, GY, GZ) will be carried out from N periodical measurements made by the GPS of components (VX, VY, VZ) of the velocity vector V of the projectile in the same land reference and with a sampling interval Δt, measurements to which a KALMAN filter will be applied. 8. The process according to claim 2, wherein, when the projectile is in the ballistic flight phase, the value of the incidence time constant Λ will be rounded up to zero and the projectile's Euler angles will be calculated by the computation device using the following formulae: the pitch θ and yaw ψ angles are equal to: description="In-line Formulae" end="lead"θ =arcsin(VZ/V); ψ=arcsin(VY /V cos θ)description="In-line Formulae" end="tail" the roll angle φ being defined by: expressions in which q and r are respectively the angular pitch and yaw velocities of the projectile in a reference linked to the projectile, velocities measured by the inertial unit. 9. The process according to claim 8, wherein the evaluation of the components (ΓX,ΓY,ΓZ) of the acceleration vector Γ in the land reference (GX, GY, GZ) will be carried out from N periodical measurements made by the GPS of components (VX, VY, VZ) of the velocity vector V of the projectile in the same land reference and with a sampling interval Δt, measurements to which a KALMAN filter will be applied. 10. The process according to claim 2, wherein the evaluation of the components (ΓX,ΓY,ΓZ) of the acceleration vector Γ in the land reference (GX, GY, GZ) will be carried out from N periodical measurements made by the GPS of components (VX, VY, VZ) of the velocity vector V of the projectile in the same land reference and with a sampling interval Δt, measurements to which a KALMAN filter will be applied. 11. The process according to claim 1, wherein the evaluation of the components (ΓX,ΓY,ΓZ) of the acceleration vector Γ in the land reference (GX, GY, GZ) will be carried out from N periodical measurements made by the GPS of components (VX, VY, VZ) of the velocity vector V of the projectile in the same land reference and with a sampling interval Δt, measurements to which a KALMAN filter will be applied.
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이 특허에 인용된 특허 (7)
Waymeyer Walter K. (La Verne CA), Advanced homing guidance system and method.
Rapiejko Stephen J. (Utica) Chan David S. (Schenectady) Staver Daniel A. (Scotia NY) Clark Nancy M. (Mesa AZ), Inertial transformation matrix generator.
Paulsen, Lee M.; Michaels, Donald L.; Thompson, Robert J.; Cook, Michael J.; Mather, John C., Low profile, conformal global positioning system array for artillery.
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