U.S. patent number 3,843,076 [Application Number 05/214,879] was granted by the patent office on 1974-10-22 for projectile trajectory correction system.
This patent grant is currently assigned to TRW. Invention is credited to Robert E. King, Wayne A. Massey, John M. Smith.
United States Patent |
3,843,076 |
King , et al. |
October 22, 1974 |
PROJECTILE TRAJECTORY CORRECTION SYSTEM
Abstract
A system for correcting the terminal portion of the trajectory
of a projectile in free fall so as to minimize the error between
the actual and the intended impact point. The projectile may be an
artillery rocket, cannon shell, or a similar ballistic body, which
is caused to roll during its free fall trajectory. The intended
target or impact point is illuminated by a light source and this
light is received at the projectile by a sensor consisting of
optics and a plurality of detectors arranged in a plane, and along
an annular area. The sensor is made to have a hollow conical field
of view, such that the ground area in the vicinity of the target
covered by the field of view is reduced as the projectile
approaches the target. Thus, when the target appears in the field
of view its image will fall on one of the detectors to determine
the polar coordinates of the target with respect to the uncorrected
impact point. Electronic means are provided for firing a lateral
thruster at a predetermined time commensurate with the polar
position of the detector that has detected the target image. This
will apply a lateral impulse to the projectile to change the
trajectory so as to minimize the terminal error.
Inventors: |
King; Robert E. (Palos Verdes
Peninsula, CA), Massey; Wayne A. (Garden Grove, CA),
Smith; John M. (Torrance, CA) |
Assignee: |
TRW (Redondo Beach,
CA)
|
Family
ID: |
22800767 |
Appl.
No.: |
05/214,879 |
Filed: |
January 3, 1972 |
Current U.S.
Class: |
244/3.16;
244/3.22 |
Current CPC
Class: |
F42B
10/661 (20130101); F41G 7/226 (20130101); F41G
7/2293 (20130101); F41G 7/222 (20130101) |
Current International
Class: |
F41G
7/22 (20060101); F41G 7/20 (20060101); F42b
015/18 () |
Field of
Search: |
;244/3.16,3.17,3.21,3.22
;102/3 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Pendegrass; Verlin R.
Attorney, Agent or Firm: Anderson, Esq.; Daniel T. Oser,
Esq.; Edwin A. Dinardo; Jerry A.
Claims
What is claimed is:
1. The method of correcting the terminal portion of the trajectory
of a projectile in free fall and rotating about its axis, the
projectile being directed toward a target, said method comprising
the steps of:
a. illuminating the target;
b. detecting the light reflected from the target within a
predetermined hollow cone extending between the rotating projectile
and the ground as the projectile approaches the target;
c. applying a single lateral impulse to the projectile in
accordance with the image of the light reflected from the target;
and
d. determining the polar coordinates of the image of the target
received at the projectile, thereby to determine the instant of
time when the single lateral impulse is applied to the projectile,
whereby the direction of the impulse applied to the projectile and
the instant the impulse is applied is determined by the polar
coordinates of the target image.
2. A system for correcting the terminal portion of the trajectory
of a projectile directed toward a target, said system
comprising:
a. a light source for illuminating the target;
b. means for causing said projectile to roll at a predetermined
rate;
c. a plurality of detectors disposed on said rolling projectile and
responsive to the light of said light source reflected by the
target, said detectors being disposed in a plane and along an
annular area;
d. means associated with said detectors for limiting the field of
view of said detectors to a cone of predetermined angle;
e. a thruster disposed on said projectile for supplying to said
projectile a single predetermined lateral impulse; and
f. electronic means coupled to said detectors and said thruster for
energizing said thruster upon a particular one of the rotating
detectors receiving light from the illuminated target within the
field of view thereof.
3. A system as defined in claim 2 wherein said detectors extend
over a portion only of said annular area to provide a detector-free
annular segment.
4. A system as defined in claim 3 wherein electronic means is
connected to each of said detectors for generating an electronic
output signal in response to light falling on a particular one of
said detectors, said electronic means being coupled to said
thruster for energizing it at an instant of time depending on the
position of said particular detector with respect to said segment
for minimizing the error of the projectile's impact point.
5. A system for correcting the terminal portion of the trajectory
of a projectile in free fall directed toward a target, said system
comprising:
a. a light source for illuminating the target;
b. means for causing said projectile to roll at a predetermined
rate;
c. a plurality of detectors, each for detecting the light reflected
by the illuminated target, said detectors being arranged in a plane
along an annular area extending over a portion only of said annular
area to provide a detector-free annular segment;
d. means for limiting the field of view of said detectors to a
hollow cone of predetermined interior and exterior angles, whereby
said cone covers successively smaller areas as said rolling
projectile approaches ground;
e. a thruster connected to said projectile for imparting thereto a
predetermined lateral impulse;
f. electronic means connected to each of said detectors for
creating an output signal in response to the image of the
illuminated target falling on a particular one of said detectors,
said electronic means being coupled to said thruster for energizing
said thruster at an instant of time depending on the angular
position of said particular detector with respect to said segment,
thereby to impart a lateral impulse to said projectile in a
direction to minimize the errors of the projectile's impact
point.
6. A system as defined in claim 5 wherein said thruster is disposed
circumferentially at such an angle with respect to said segment as
to correct for the buildup and decay of the thruster's thrust.
Description
BACKGROUND OF THE INVENTION
This invention relates generally to projectile trajectory
correction systems and particularly relates to a system for
minimizing the error between the actual impact point and the
intended impact point of a free fall projectile.
Usually it is desired to direct a projectile toward a particular
target. An example of this is a cannon shell which is directed
toward a specific target. The same applies to other ballistic
bodies which are in free fall or an air dropped bomb. In general,
once a projectile is launched and in free fall, it is difficult to
correct its trajectory. The alternative would be some form of
guided missile but it is well known that missile guidance systems
are expensive, rather sophisticated and not always reliable.
It is accordingly desirable to provide a system capable of
correcting the trajectory of a projectile in free fall. More
correctly such a system will minimize the impact error. This, in
turn, will insure that the projectile comes much closer to its
intended target. As a result, the expenditure of projectiles
required to achieve a desired effect is minimized.
It is accordingly an object of the present invention to provide a
relatively inexpensive system for correcting the terminal portion
of the trajectory of a projectile in free fall.
Another object of the present invention is to provide a system of
the type discussed which will much reduce the impact error of a
projectile so that projectiles equipped with the system will, on
the average, impact much closer to the intended target than
otherwise equivalent projectiles.
A further object of the present invention is to provide a sensor
which will provide the information required to minimize the impact
error of a projectile in free fall.
SUMMARY OF THE INVENTION
Accordingly, the present invention provides a system for correcting
the terminal portion of the trajectory of a projectile in free fall
directed toward a target. The target is illuminated by a light
source. Also the projectile is caused to roll at a predetermined
rate, for example, by providing suitable fins. Disposed on the
projectile is a sensor apparatus including a sensor for sensing the
light of the light source reflected by the target. Means are
associated with the sensor apparatus for limiting the field of view
to a cone of predetermined angle and preferably a hollow cone with
fixed, interior and exterior angles. Furthermore, a thruster is
disposed on the projectile for supplying upon firing to the
projectile a predetermined lateral impulse. Finally, electronic
means are coupled to the sensor and to the thruster for energizing
the thruster when the sensor receives light from the illuminated
target within its field of view.
As a result the thruster is energized in accordance with the polar
coordinates of the image of the target at the projectile. It is
energized at a certain distance from the ground as determined by
the angle of the field of view cone so that the thruster's impulse
acting on the projectile will deviate the trajectory so as to
minimize the target error.
The novel features that are considered characteristic of this
invention are set forth with particularity in the appended claims.
The invention itself, however, both as to its organization and
method of operation, as well as additional objects and advantages
thereof, will best be understood from the following description
when read in connection with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a schematic side elevational view of the terminal portion
of the trajectory of a projectile in free fall, its uncorrected and
corrected trajectory as well as the light source illuminating the
intended target;
FIG. 2 is a sectional view on enlarged scale of the sensor with
detector and associated lens and electronic components;
FIG. 3 is a schematic top plan view along the roll axis of the
projectile at the sensor illustrating the detectors disposed along
a portion of an annulus and the thruster shown in its initial and
firing positions;
FIG. 4 is a top plan view somewhat similar to that of FIG. 3 but
illustrating the offset angle of the thruster required to
compensate for the buildup and decay time of the thrust; and
FIG. 5 is a schematic diagram in block form of the electronics
required to fire the thruster in response to the image of the
target received by one of the detectors.
DESCRIPTION OF THE PREFERRED EMBODIMENT
Referring now to the drawings and particularly to FIG. 1, there is
illustrated a projectile 10 in free fall. The projectile 10 is
provided with fins 11 which are shaped in such a manner that they
impart a roll to the projectile so that the projectile rotates at a
relatively constant predetermined rate of revolution. The
projectile 10 is also provided with a lateral thruster 12 which is
so positioned to impart a single lateral impulse to the projectile
upon firing.
A straight line approximation to the projectile's free fall
trajectory is shown at 14 and if uncorrected will cause the
projectile to hit an impact point 15 on the ground. The actual
target is shown at 16. The trajectory 14 and an extension of the
projectile roll axis makes an angle with a horizontal line
indicated at .theta..sub.t.
It is therefore desired to provide a terminal correction to the
trajectory 14 of the projectile. The corrected trajectory is shown
at 17 corresponding to the corrected impact point 18. It will be
noted that the corrected impact point 18 is much closer to the
desired target 16 than is the uncorrected impact point 15. The
angle between the original trajectory 14 and the corrected
trajectory 17 is .theta..sub.c. The angle between the projectile
roll axis and the line of sight from the projectile to the target
is .theta..sub.i. Finally, as will be explained hereinafter, the
projectile 10 is provided with a sensor which may have a hollow
conical field of view, the interior angle and exterior angle of
which are given by .theta..sub.i and .theta..sub.o respectively
from the sensor axis which is prealigned with the projectile roll
axis.
It should also be noted that a light source 21 is provided on a
convenient hill or other location which directs a light beam 22
toward the target 16 for illuminating it. The light source 21 could
be any suitable light source capable of illuminating the target 16,
as well as the various impact points 15 and 18, with sufficient
light intensity to enable operation of the sensing system of the
projectile 10 on light reflected from the target. Conveniently, the
light source 21 may consist of a pulsed solid state laser
utilizing, for example, a YAG (yttrium aluminum garnet) host doped
with neodymium or a glass host doped with erbium or a ruby.
The YAG neodymium laser generates infrared light having a
wavelength of 10,600 A (angstrom). For certain applications it may
be desirable to use infrared light which is invisible. It may also
improve the reception of the target image at the projectile.
Accordingly, it will be understood that the term "light source"
includes a source that emits light in either infrared, visible or
ultraviolet wavelength regions. The light source 21 may develop a
continuous light beam or it may be pulsed say at the rate of 10
pulses per second and each pulse may have a duration of 10 to 30
nanoseconds.
Instead of placing the light source 21 at a neighboring hill it is
also possible to illuminate the target from a helicopter or the
like. The projectile 10 may be a projectile from a gun, a rocket or
a bomb in free fall.
The sensor disposed in the nose of the projectile 10 will now be
described and is illustrated in FIG. 2 to which reference is now
made. The geometric position of the detectors and the thruster 12
is shown in FIGS. 3 and 4 which will be subsequently explained.
As shown in FIG. 2 there may be provided a cylindrical container 25
including a cylindrical element 26 containing a plurality of
detectors 27 arranged in a plane and along the major portion of an
annular space as shown in FIGS. 2 and 3. The detectors 27 may, for
example, consist of PIN silicon or PN germanium. Alternatively, for
a different spectral region a detector of gallium arsenide may be
used. The detectors may, for example, be manufactured on a single
semiconductor chip in a conventional manner. The container 25 also
includes a lens 28 which may be mounted in a ring 30 and retained
by a lens retainer 31 which is threadably connected to the ring 30
which in turn is threaded on the container 25. Ahead of the
detectors 27 there may be provided a light filter 32 for passing
substantially only the light of the laser source 21. Such an
optical filter may be a dielectric interference type filter or an
absorption type filter for operation with a YAG laser source
emitting at 10,600 A. Such filters can be readily made to cut off
all light below 9,000 A. On the other hand a silicon detector is
not responsive to infrared light above 11,000 A. Accordingly,
between the optical filter and the detector only light between
9,000 A and 11,000 A is sensed including that generated by a YAG
laser. This will reject most of the daylight background light.
A plurality of connector pins such as shown at 33 interconnect each
detector to the electronics shown at 34 having an output cable 35
which in turn is connected to the thruster 12 for firing it.
The lens 28 and the detectors 27 are so arranged that the field of
view of the detector system preferably is a hollow cone with
predetermined interior and exterior angles; namely, the angles
.theta..sub.i and .theta..sub.o. These angles are determined by the
size of the detectors and the focal length of the lens 28. The
angles .theta..sub.o and .theta..sub.i are also shown in FIG. 1
between the trajectory or projectile roll axis 14 and lines 20 and
29.
The operation of the detectors 27 and how they correct the
projectile trajectory 14 will now be explained by referring to
FIGS. 3 and 4. As shown in FIG. 3 there are disposed, for example,
15 detectors in a plane about an annular space extending through an
angle of 270.degree.. It will, of course, be understood that it is
possible to have an annular space completely taken up by detectors
27. However, by providing a gap of detectors through a
predetermined angle such as 90.degree., errors related to the
uncertainty of roll rate are minimized.
Assuming that the arrow 37 points toward the target 16, as seen
from the projectile, the image 38 of the target will eventually be
received by one of the detectors, say detector 27'. Since the
projectile provides a conical field of view it will be understood
that the area viewed by the detector decreases as the projectile
approaches the ground. Due to the direction of roll of the
projectile shown by the arrow 40, the image of the target will
follow a spiral diverging or outward-going with time in the plane
of the detectors 27 until eventually the image 38 of the target
falls on one of the detectors, say detector 27'. The projectile
roll axis is shown at 43.
12' indicates the circumferential position of the thruster 12 when
the target is first detected. 12" shows the position of the
thruster 12 when it receives a firing impulse generated by the
electronics 34 in a manner which will later be explained. In this
manner the thruster is properly positioned so that its impulse
causes a trajectory deviation which reduces the impact error.
Accordingly, the angle .alpha. which indicates the offset in polar
coordinates between thruster positions 12' and 12" considering the
roll rate of the projectile corresponds to the time delay caused by
the electronics 34. It will be understood that the angle .alpha.
depends on the angular roll rate of the projectile and the time
delay generated by the electronics.
FIG. 4 illustrates schematically the arrow 37 pointing toward the
target, and the circle 41 representing a cross section of the
projectile body with its roll axis 43. As shown at 42 rather
schematically, the thruster 12 does not fire instantly upon receipt
of the ignition signal but requires a finite time for both buildup
and decay of the thrust produced. Therefore, the thruster's impulse
vector which represents the thrust integrated over time, is offset
by an angle .theta..sub.f from the position of the thruster at the
time of ignition.
To compensate for this offset, the thruster 12 should be
correspondingly offset by the angle .theta..sub.f as shown at 12'",
that is, its position should be retarded with respect to the
direction of rotation shown by the arrow 40. This will ensure that
the impulse of the thruster is directed in the proper direction.
The effect of the impulse on the projectile trajectory is explained
for a two-dimensional case by the vector diagram of FIG. 1. v.sub.m
indicates the initial velocity vector. In order to obtain the
desired new velocity vector v.sub.r it is necessary to provide a
lateral velocity v.sub.e all as shown in the vector diagram so as
to reduce the impact error such that the angle between the two
velocity vectors v.sub.m and v.sub.r is .theta..sub.c. The lateral
velocity vector v.sub.e is that imparted to the projectile by the
thruster 12.
The electronics 34 is shown in more detail in FIG. 5 to which
reference is now made. The detectors are shown schematically at 27.
Each detector is connected to an amplifier 45 which generates an
amplified signal 39 and in turn is connected to a threshold circuit
or amplifier 46 which generates an output pulse as shown in 47 when
the input exceeds a predetermined level. Each threshold circuit is
coupled to a shift register 48 having 15 storage positions
corresponding to the 15 detectors 27. The shift register 48 is
actuated by a clock pulse generator 50 which generates clock pulses
49 fed by a lead 51 into the shift register 48.
Outputs from all of the threshold circuits 46 are connected to an
OR gate 52. Accordingly, the OR gate 52 will generate an output
signal to start the clock pulse generator 50, upon the occurrence
of an output signal from any one of the 15 threshold circuits 46.
In other words, as soon as the image of the illuminated target is
received by one of the detectors 27, an output signal is generated
by that detector which is loaded into the shift register 48. At the
same time the OR gate 52 will cause the clock pulse generator 50 to
start and to send pulses into the shift register 48. This in turn
will cause the previously loaded input signal to propagate through
the shift register 48 until it is passed to a switch circuit 54
which then generates an output pulse 55 for firing the thruster 12.
It will now be appreciated that the time delay caused by the
electronics corresponds to the angle .alpha. through which the
thruster must rotate to be properly positioned for firing. It will
also be understood that the first pulse received by any one of the
detectors initiates the cycle of operation and that subsequent
pulses do not influence the time of firing of the thruster.
By way of example, it may be assumed that the projectile rotates at
the rate of 7.5 revolutions per second. It may also be assumed that
there are 15 detectors covering 270.degree. of the field of view.
Accordingly, the clock pulse rate is 7.5 .times.
(360.degree./18.degree.) = 150 pulses per second, where the
18.degree. corresponds to the angle through which one detector
extends. With this assumption the thruster can be made to fire
within the same revolution when the image of the target is first
received by one of the detectors. This will minimize the effects of
variations in the rate of roll of the projectile. Therefore, for
all practical purposes, the thruster will fire within three-fourths
of a revolution or less.
It will be appreciated that the field of view of the detector, that
is the interior angle .theta..sub.i of the hollow cone determines
the point in the terminal portion of the path of the projectile
when the correction system operates. Thus, by way of example, the
correction system may operate during the last 15 percent of the
projectile's trajectory. It may also be assumed that the velocity
of the projectile is 700 ft. per second. As indicated before, the
duration of the illuminating light pulse may be 10 to 30
nanoseconds while the build up time of the thrust may amount to 10
milliseconds with a total build up and decay time of about 25
milliseconds. It will now be appreciated that the impulse delivered
by the thruster must be such as to provide a desired angle of
deviation which should be equal to the interior angle of the field
of view. Because the angle of view of the detector system is known
it can be determined how far from the ground the projectile will be
when its trajectory is corrected. It should also be understood that
the correction reduces the miss distance of the error but may not
completely correct the trajectory. However, the miss distance is
corrected to such an extent as to minimize the impact error
commensurate with the complexity and cost of the correction
system.
There has thus been disclosed a correction system for the terminal
portion of the trajectory of a projectile. The system includes a
sensor consisting of a series of detectors for receiving an image
of the illuminated target and appropriate electronics. The
electronics will provide a firing impulse to a thruster which
provides a lateral impulse to the projectile to correct the
trajectory toward the target. The correction is effected during one
revolution of the rotating projectile. It occurs when the conical
field of view has become sufficiently small so that the target
image is received at the inner edge of one of the detectors. The
polar coordinates of the target image determines the time of firing
of the thruster so that the trajectory is corrected in the proper
direction.
* * * * *