EP2080981A2 - Unmanned missile - Google Patents

Abstract

The missile (1) has a trunk (10) that receives a cargo, and control surfaces (16) attached at the trunk and movable via control surface drives. An on-board computer (20) is provided with a mission data memory (22) and a control computer (24), which impinges the control surface drives with control signals. A satellite communication device (26), is electrically connected with the on- board computer for data exchange. Satellite communication antennas (32-48) are designed as transmitting and/or receiving antennas for the satellite communication device. Independent claims are also included for the following: (1) a method for data communication between an uncrewed missile i.e. cruise missile, aviating a specific mission and a mission control station (2) a method for mission planning for the uncrewed missile.

Description

TECHNICAL AREA

The present invention relates to an unmanned missile according to the preamble of claim 1. It further relates to a method for data communication between an unmanned missile flying a given mission and a mission control station. In addition, the invention relates to a method for mission planning for an unmanned missile.

STATE OF THE ART

A problem with the use of unmanned missiles is that for controlling the unmanned missile a line of sight connection to the missile must exist. Routes that go beyond the horizon with respect to the mission control station for the unmanned missile are therefore difficult.

Attempts have been made to extend the line of sight connection from the mission control station to the missile by using flying relay stations. So it is for example from the US 5,186,414 A It is known to arrange a radio relay station on a hot air balloon or, at sea, on a buoy and thereby extend the line of sight connection from the mission control station to the flying missile over the horizon. However, such relay stations are only usable when they are beyond the control of enemy forces, otherwise they can easily be overridden. Also buoys or hot air balloons are very weather dependent, so that they can be used only in favorable weather conditions.

It is therefore customary to provide an unmanned missile with a predefined flight route and a predefined target as a mission plan, which is stored in a mission data memory of the unmanned missile and whose data are then available to an autonomous control system of the unmanned missile so that it can travel along the stored, in the mission plan set predetermined distance to the specified destination flies.

Often, however, it is desirable to be able to influence the flight path and also the planned destination of the unmanned missile after its launch even then, and if necessary to change, if it flies out of sight to the mission control station. It may also be desirable to receive data about the flying state of the unmanned missile or also image data from a camera provided in the unmanned missile.

PRESENTATION OF THE INVENTION

The invention is based on the object or the technical problem of designing an unmanned missile in such a way that it is also able to communicate with a mission control station when it is flying outside the line of sight to the mission control station.

Another object is to provide a method of data communication between an unmanned missile flying a given mission and a mission control station, which is also feasible out of sight line communication between the unmanned missile and the mission control station.

Finally, it is a third object of the present invention to provide a method for mission planning for an unmanned missile which provides data communication between the mission control station and the unmanned aircraft Missile is also allowed when it is out of sight of the mission control station.

The first task concerning the missile is solved by an unmanned missile having the features of patent claim 1.

This unmanned missile, which is, for example, a cruise missile, includes a payload-receiving fuselage, control surfaces movably attached to the fuselage by control drives, a missile propulsion device, and an on-board computer including a mission data memory and a control computer. which acts on the control surface drives with control signals. This missile according to the invention is characterized by a satellite communication device, which is electrically connected to the on-board computer for data exchange, and by at least one satellite communication antenna as a transmitting and / or receiving antenna for the satellite communication device. By means of the satellite communication antenna and the satellite communication device, a communication link can be established during the entire flight of the missile to a corresponding communication satellite, which in turn is in communication with the mission control station. Thus, a data exchange between the mission control station and the unmanned missile via the satellite or via several satellites of a satellite network can also take place when the unmanned missile for the mission control station has disappeared behind the horizon.

Preferably, the missile is provided with buoyancy-producing wings on the fuselage. This increases the range of the missile.

Preferably, the at least one satellite communication antenna is arranged in the forward direction of the missile in the direction of flight. It can alternatively or additionally also be arranged in the rear of the missile in the direction of flight. The arrangement in the front region of the missile can be made in a particularly favorable manner in the climb of the missile, a communication link to a satellite. In the arrangement in the rear of the missile, the communication link to the satellite can be made particularly reliable in the descent of the missile. In another preferred embodiment, alternatively or additionally, a plurality of satellite communication antennas distributed over the circumference of the missile, preferably uniformly, are provided which form a group of satellite communication antennas. This arrangement of the satellite communication antennas along the circumference of the missile, regardless of the attitude of the missile about its roll axis, ensures that a satellite communications antenna is constantly pointing into space towards a satellite. It is advantageous if a first group of satellite communication antennas is provided in the front area of the missile and a second group of satellite communication antennas is provided in a rear area of the missile. This arrangement allows independent of the attitude of the missile about its roll axis, pitch axis and yaw axis, always an optimal communication link to a satellite can be established.

It is advantageous if the group of satellite communication antennas has four satellite communication antennas which are circumferentially spaced by 90 ° from each other.

If the respective satellite communication antenna is arranged in the region of the outer skin of the missile and can be pivoted from a seated on the outer skin or recessed under the outer skin rest position in a working position in which the pivot axis in a plane perpendicular to the missile longitudinal axis, then the aerodynamic properties of the unmanned Missile impacted by the additionally provided satellite communication antenna only slightly. At this Embodiment, the satellite communication antenna may remain in its rest position during the largest time of the cruise and is only swung into its working position for the period of satellite communication in which it gives the missile a greater aerodynamic drag.

The on-board computer of the missile preferably has an antenna control device for the satellite communication antennas, by means of which the individual satellite communication antennas can be controlled and by means of which the swivel angle of the satellite communication antennas can be controlled. In this way, one or more of the satellite communication antennas of the unmanned missile can be computer-controlled and demand-controlled swung into an optimal position in which, taking into account the flight position and attitude of the missile, a best possible communication link to the satellite can be established.

The object relating to the method for data communication is achieved according to the features of patent claim 7. In this method according to the invention for data communication between an unmanned missile flying a given mission and a mission control station, a satellite communication device electrically connected to an onboard computer of the missile builds a radio link with the satellite independently at a given time or upon reaching a predetermined flight path point or event-controlled Mission control station via a satellite. After establishing the radio connection, bidirectional data transmission takes place between the satellite communication device of the missile and the mission control station via the communications satellites. The fact that the radio connection is established from the onboard computer of the missile significantly reduces the risk of unauthorized communication with the radio Can produce missiles from the outside and thus possibly gain control of the missile.

Advantageously, prior to commencement of the establishment of the radio connection, the missile is brought by a control device of the missile in an attitude in which at least one of the satellite communication antennas of the missile can be aligned with the satellite, and then this satellite communication antenna is aligned with the satellite, wherein the missile during the duration the existence of the radio link preferably remains in this attitude. This further development of the method makes it possible, for example, to put the missile in a vertical climb before the start of the construction of the radio link by means of a so-called pop-up maneuver in which one or more of the satellite communication antennas located in the front region of the missile are reliably aligned with the satellite and so a stable communication link to the satellite can be established. In this case, the attitude in which the missile is brought for the duration of the radio link, preferably a steep climb or a steep descent. This steep climb or steep descent is advantageously a vertical climb or a vertical dive.

In addition, it may be advantageous that the missile is not only placed in an appropriate attitude prior to the start of the construction of the radio link, but also from the previous flight path and selects a flight path, the alignment of a line of sight connection between at least one of the satellite communication antennas and a satellite allows. For example, if the missile makes a terrain tracking low-level flight for camouflage purposes, it may be necessary and advisable to choose a flight path of greater altitude over ground for the duration of the satellite communications link to allow line-of-sight connection between the missile and a communications satellite.

In a particularly preferred embodiment, only the antenna is used for the communication between the missile and the mission control station, which is in radio shadow of the missile with respect to potential interference signal sources. This is implemented in particular when the radio missile detects radio interference signals or when the risk of the impact of radio interference signals on the missile is to be expected.

Preferably, the time at which the radio link is established is specified in a mission plan stored in a mission data memory of the missile's on-board computer. Alternatively, the location where the radio connection is established may also be specified in the mission plan. In this way, it is possible to determine, even before the start of the missile, where or when the missile reports by setting up the communication link at the mission control station. This point in time at which the radio connection is set up or the place where the radio connection is established preferably lies before the time or place at which an originally initiated mission can still be terminated or mission data, such as, for example, destinations to be found, can still be changed effectively.

For this purpose, the radio link between the missile and the mission control station during a mission can also be set up several times.

The method according to the invention is also advantageously suitable for the mission control station transmitting new or changed mission data to the missile during the existence of the radio link, for storing this new or changed mission data in the mission data memory of the missile and for continuing the mission from the on-board computer of the missile using this new or modified mission data. Thus, for example, reconnaissance knowledge gained during the flight time of the unmanned missile can still be incorporated into the already running mission. To prevent unauthorized third parties during the period transmit the radio connection unauthorized modified mission data to the missile, these data are not only transmitted encrypted, but it also requires the transmission of a special access code, such as a transaction number (TAN), which is sent from the mission control station to the missile and with a before beginning is compared to the mission stored in the on-board computer of the missile transaction number, a transaction number can be used only once.

It is also advantageous if the satellite communication device of the missile transmits state information of the missile to the mission control station during the existence of the radio link. This gives the flight line in the mission control station the ability to determine if the missile is functioning properly and if the missile is on the predetermined route.

It is also particularly advantageous if the satellite communication device of the missile transmits image data of a camera provided in the missile, preferably as live video, to the mission control station during the existence of the radio link, preferably in the event of an overburden or approach to a destination. In this way, not only the flight behavior of the unmanned missile can be checked by the mission control station, but also findings about the area flown over or the destination served can be obtained in the image. If appropriate, the mission control station can also influence the trajectory of the missile by activating control devices of the unmanned missile if the transmitted images make such a change in route appear necessary.

The object concerning the method for mission planning is solved by the features of claim 15. In this method, target coordinates and flight path data are set and stored in a mission data store the missile stored, with additional distance ranges are set, in which data communication between the missile and a mission control station is carried out. Furthermore, flight positions of the missile are defined, which the missile occupies on the route sections of the planned data communication, so that there is a line of sight connection between the missile and at least one communications satellite. In addition to the definition of flight positions of the missile to build up the planned data communication, a change in the distance required for the period of data communication during mission planning can also be entered into the mission data memory of the missile. As an alternative to defining route sections, time slots can also be defined during mission planning, at which time the data communication between the missile and the mission control station takes place.

Preferred embodiments of the invention with additional design details and other advantages are described and explained in more detail below with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1

einen unbemannten Flugkörper gemäß der vorliegenden Erfindung; und

Fig. 2

ein schematisches Beispiel eines Flugwegs, wie er mit dem erfindungsgemäßen Verfahren zur Missionsplanung geplant werden kann, um das erfindungsgemäße Verfahren zur Datenkommunikation durchzuführen.

It shows:

Fig. 1

an unmanned missile according to the present invention; and

Fig. 2

a schematic example of a flight path, as it can be planned with the inventive mission planning method to perform the inventive method for data communication.

PRESENTATION OF PREFERRED EMBODIMENTS

Fig. 1 shows an unmanned missile 1 in a schematic representation. The missile 1 comprises a payload-receiving fuselage 10, wings 12 mounted on the fuselage 10, two drive devices provided laterally on the fuselage 10, of which only the left-hand drive device 14 is shown, and control surfaces 16 which can be moved in a known manner by means of control-surface drives (not shown) attached to the hull 10.

The missile 1 is further provided with an avionics 2, which is also shown only schematically and is located inside the hull 10. The avionics 2 contains an on-board computer 20 which, in addition to effective connections to conventional navigation devices, also has a mission data memory 22 and a control computer 24. The control computer 24 is supplied by the mission data memory 22 with data of a predetermined flight path and further receives navigation data from conventionally provided navigation devices, such as a satellite navigation system and / or an inertial navigation system. Based on these data, the control computer 24 generates control signals, which are sent to the control surface drives, whereupon they adjust the control surfaces 16 for controlling the missile 1.

Furthermore, a satellite communication device 26 is provided in the avionics 2, which is electrically connected to the on-board computer 20 for data exchange. In the front area 1 'of the missile 1 in the direction of flight F, a first group 30 of satellite communication antennas 32, 34, 36, 38 is provided on the outer circumference of the fuselage 1 of the missile 1. The satellite communication antennas 32, 34, 36 and the invisible satellite communication antenna 38 provided on the right side of the missile 1 are circumferentially spaced from each other by 90 ° with respect to the fuselage 10, so that a first satellite communication antenna 32 is provided on top of the fuselage 10, a second satellite communication antenna 34 on the underside of the fuselage and a respective satellite communication antenna 36, 38 on the left and right side of the fuselage. The individual satellite communication antennas 32, 34, 36, 38 are each pivotable away from the fuselage 10 into a working position about a pivot axis 31, 33, 35, 37 located toward the front of the missile 1. In Fig. 1 By way of example, the upper front satellite communication antenna 32 pivoted to a working position is shown. The pivoting of the individual satellite communication antennas 32, 34, 36, 38 by means of a respective actuator, of which in Fig. 1 only the actuator 39 of the upper satellite communication antenna 32 is shown.

so weit vom Rumpf 10 des Flugkörpers 1 weg geschwenkt, dass sie eine Sichtlinienverbindung zu einem im Orbit befindlichen Kommunikationssatelliten 4 zum Zweck der Datenübertragung herstellt, bei der die Sichtlinie 3 im rechten Winkel zur Antennenoberfläche steht oder bei einer konkaven Antennenoberfläche mit deren Brennpunktachse zusammenfällt.The upper front satellite communication antenna 32 is at a swivel angle

pivoted so far away from the fuselage 10 of the missile 1 that it establishes a line-of-sight connection to an in-orbit communications satellite 4 for the purpose of data transmission, where the line-of-sight 3 is at right angles to the antenna surface or coincides with its focal axis at a concave antenna surface.

weg schwenkbar sind.Similarly, four rear satellite communication antennas 42, 44, 46, 48 are provided in the rear area 1 "of the fuselage 10, forming a second, rear group 40 of satellite communication antennas, the pivot axes 41, 43, 45, 47 of these rear satellite communication antennas 42, 44, 46, 48 are located on the side facing the tail of the missile 1 side of the respective satellite communication antenna, so that the individual antennas by means of a respective actuator, of which only the actuator 49 of the lower antenna 44 is shown here, from the fuselage by a pivot angle

are pivotable away.

The satellite communication antennas 32, 34, 36, 38; 42, 44, 46, 48 are in Fig. 1 shown so that they rest in their non-pivoted rest position on the outer skin of the fuselage 10 of the missile 1. However, this is only a schematic representation. In practice, the satellite communication antennas will be in their rest position either in a respective associated recess of the fuselage 10 or under the outer skin of the Hull 10 may be arranged and swing together with a corresponding, associated hull flap to the outside in the working position.

The pivot axes 31, 33, 35, 37; 41, 43, 45, 47 are aligned so that the respective axis lies in a plane perpendicular to the missile longitudinal axis X.

For controlling the satellite communication antennas 32, 34, 36, 38; 42, 44, 46, 48, the on-board computer 20 is provided with an antenna control device 28, are passed from the corresponding control commands to the respective satellite communication antenna associated actuator 39, 49.

Fig. 2 schematically shows the flight path 100 of an unmanned missile on the way from a (not shown) starting place to one of several targets 102, 104, 106, 108. Before the start of the missile, a mission planning method is performed, in which the coordinates of the targets 102 , 104, 106, 108 as well as the route data of the flight path 100. These specified data are stored in the mission data memory of the missile prior to the launch of the missile. Furthermore, geographic terrain data of a corridor 110 is stored on both sides of the flight path 100 as well as the environment 112 of the targets 102, 104, 106, 108. With this given data and the on-board navigation means, the missile is able to navigate autonomously on its flight path between the starting point and the destination.

During mission planning, route areas are also defined in which data communication takes place between the flying missile and the mission control station. Upon reaching these path ranges, the missile will assume an attitude already established in mission planning that will enable it to establish a line of sight connection to a communications satellite, thus providing data communication between the missile and the mission control station can take place over the communications satellites. The beginning of such a route range is already defined as checkpoint 114 during mission planning and stored in the mission data memory. This checkpoint 114 should be in front of a target decision point 116 at which the cruise path 101 from the start location to the destination flight paths or target trajectories 103, 105, 107, 109 separates to the respective targets 102, 104, 106, 108.

In this way, it is achieved that, at the data communication beginning at the checkpoint 114, a change in the planned flight route to an alternative destination 104, 106 or 108 already provided in the mission plan can be made instead of a destination 102 originally stored in the onboard computer of the missile.

Furthermore, during the mission planning, a target approach point 113, 115, 117, 119 can still be defined on the respective target trajectory 103, 105, 107, 109, to which the missile once again establishes data communication with the mission control station and transmits images of the target approach to the mission control station, be taken by a camera 18 in the bow of the missile 1.

Shortly before reaching the control point 114 or one of the target approaching points 113, 115, 117, 119, the missile is brought by its control device in an attitude in which at least one of the satellite communication antennas 32, 34, 36, 38; 42, 44, 46, 48 can be aligned on the communication satellites 4. For this purpose, it may be necessary, for example, to control the missile from a terrain low-altitude flight into a higher trajectory over ground, in which there is a line-of-sight connection to the communications satellite 4. The missile 1 may also be placed in a steep climb or in a steep descent to obtain a line of sight connection from at least one of the satellite communication antennas to the communications satellite. It is during the steep climb at least one of Satellite communication antennas 32, 34, 36, 38 used in the front of the fuselage 10, while in the steep descent, especially in the dive to the target, at least one of the satellite communication antennas 42, 44, 46, 48 of the rear portion of the fuselage 10 is used.

If at least one of the satellite communication antennas is aligned with the satellite, starting from the missile 1, the communication link is established via the communications satellites 4 to the mission control station; The satellite communication device 26 of the missile 1 is thus the calling part in setting up the communication link. During the existence of the communication connection, the data exchange takes place between the on-board computer 20 of the missile 1 and the mission control station, which is preferably carried out bidirectionally. If necessary, the image data transmission from the missile 1 to the mission control station takes place in the approach to the destination until it reaches the destination.

If the data transmission begun after reaching the control point 114 has ended during cruise flight, then the missile 1 returns to the originally planned flight path, for example, an off-road low-altitude flight, and continues its cruising flight.

Both by this method of data communication and by the described method for mission planning, it is possible to communicate with an unmanned missile located on the cruise or already in the approach, even if it is out of direct line of sight connection to the mission control station, so even during the cruise and even shortly before reaching the destination an exchange of information between the missile and the mission control station can take place.

Reference signs in the claims, the description and the drawings are only for the better understanding of the invention and are not intended to limit the scope.

LIST OF REFERENCE NUMBERS They denote:

1

Unmanned missile

1'

front area of the missile

1"

rear area of the missile

2

Avionics

3

Sight communication

4

communications satellite

10

hull

12

wing

14

driving means

16

control surface

18

camera

20

board computer

22

Mission data storage

24

control computer

26

Satellite communication equipment

28

Antenna control means

30

first group

31

swivel axis

32

Satellite communications antenna

33

swivel axis

34

Satellite communications antenna

35

swivel axis

36

Satellite communications antenna

37

swivel axis

38

Satellite communications antenna

39

actuator

40

second group

42

Satellite communications antenna

44

Satellite communications antenna

46

Satellite communications antenna

48

Satellite communications antenna

49

actuator

100

flight path

101

Reiseflugweg

102

aim

103

target trajectory

104

aim

105

target trajectory

106

aim

107

target trajectory

108

aim

109

target trajectory

110

Terrain data corridor

112

target environment

113

Target approach point

114

checkpoint

115

Target approach point

116

Target decision point

117

Target approach point

119

Target approach point

F

flight direction

X

Missile longitudinal axis

Claims (15)

Unmanned missile, in particular cruise missile, with - a payload receiving hull (10); - Control surfaces (16) which are mounted by means of cam drives movable on the hull (10); - A drive device (14) for the missile (1) and - An on-board computer (20) having a mission data memory (22) and a control computer (24) which acts on the control surface drives with control signals;
marked by, - A satellite communication device (26) which is electrically connected to the on-board computer (20) for data exchange, and - At least one satellite communication antenna (32, 34, 36, 38, 42, 44, 46, 48) as a transmitting and / or receiving antenna for the satellite communication device (26). Unmanned missile according to claim 1,
characterized,
that lift generating wing (12) on the fuselage (10) are provided. An unmanned missile according to claim 1 or 2,
characterized, - That the at least one satellite communication antenna (32, 34, 36, 38) in the direction of flight (F) front region (1 ') of the missile (1) is arranged and / or - That the at least one satellite communication antenna (42, 44, 46, 48) in the flight direction (F) rear portion (1 ") of the missile (1) is arranged and / or in that a plurality of satellite communication antennas (32, 34, 36, 38, 42, 44, 46, 48) distributed over the circumference of the missile (1), preferably uniformly, are provided, which form a group (30, 40) of satellite communication antennas, preferably a first group (30) of satellite communication antennas (32, 34, 36, 38) in a front area (1 ') of the missile (1) and a second group (40) of satellite communication antennas (42, 44, 46, 48) in FIG a rear portion (1 ") of the missile (1) is provided. Unmanned missile according to claim 3,
characterized in that said group (30; 40) of satellite communication antennas comprises four satellite communication antennas (32, 34, 36, 38; 42, 44, 46, 48) circumferentially spaced by 90 ° from each other. Unmanned missile according to one of the preceding claims,
characterized,
in that the respective satellite communication antenna (32, 34, 36, 38; 42, 44, 46, 48) is arranged in the region of the outer skin of the missile (1) and can be pivoted into a working position from a resting position resting on the outer skin or sunk under the outer skin wherein the pivot axis (31, 33, 35, 37; 41, 43, 45, 47) is located in a plane perpendicular to the missile longitudinal axis (X). Unmanned missile according to one of the preceding claims,
characterized in that the on-board computer (20) comprises antenna control means (28) for the satellite communication antennas (32, 34, 36, 38; 42, 44, 46, 48) by which the individual satellite communication antennas (32, 34, 36, 38; 42, 44, 46, 48) are controllable and by means of the swivel angle

(

) of a respective one of the satellite communication antennas (32, 34, 36, 38; 42, 44, 46, 48). Method for data communication between an unmanned missile flying a given mission, in particular cruise missiles, and a mission control station, - wherein a satellite communication device electrically connected to an on-board computer of the missile for signal and data exchange independently establishes a radio link with the mission control station via a satellite; and - After the establishment of the radio connection, a bidirectional data transmission between the satellite communication device of the missile and the mission control station takes place. Method according to claim 7,
characterized, - That the missile is brought before the establishment of the radio connection by a control device of the missile in an attitude in which at least one of the satellite communication antennas of the missile can be aligned on the satellite; and - that the satellite communications antenna is aligned with the satellite, the missile remaining in that attitude for the duration of the radio link, - wherein preferably the attitude in which the missile is placed for the duration of the radio link, a steep, preferably vertical, climb or a steep descent, preferably a vertical descent is. Method according to one of claims 7 or 8,
characterized,
that in particular when hitting radio interference signals on the missile only that antenna is used for communication with the mission control station via the satellite, which is in radio shadow of the missile with respect to a potential interference signal source. Method according to one of claims 7 to 9,
characterized,
that the time at which the radio connection is established, or the place where the radio link is set up is defined in a mission plan that is stored in a mission data memory of the onboard computer of the missile. Method according to one of claims 7 to 10,
characterized,
that the radio connection between the missile and the mission control station is established several times during a mission. Method according to one of claims 7 to 11,
characterized, that the mission control station transmits new or changed mission data to the missile during the existence of the radio link, - that these new or changed mission data are stored in the mission data memory of the missile, and - That the continuation of the mission from the on-board computer of the missile using this new or modified mission data takes place. Method according to one of claims 7 to 12,
characterized,
that the satellite communication device of the missile transmits state information of the missile to the mission control station during the existence of the radio link. Method according to one of claims 7 to 13,
characterized,
that the satellite communication device of the missile transmits image data of a camera provided in the missile, preferably as live video, to the mission control station during the existence of the radio link, preferably in the event of a terrain overflight or approaching a destination. Method for mission planning for an unmanned missile, in particular according to one of claims 1 to 6, in which target coordinates and flight path data are determined and stored in a mission data memory of the missile,
characterized by the further steps, - defining path areas where data communication between the missile and a mission control station occurs; Defining missile attitude for the route areas of the scheduled data communication so that there is a line of sight connection between the missile and at least one communications satellite.

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