TITLE
A guidance system.
TECHNICAL FIELD
The present invention relates to the field of guidance systems for tracking
and guiding an object, preferably a weapon.
BACKGROUND ART
One type of known weapon system relies on firing numerous shots of
unguided projectiles. This type of weapon system that lacks a guidance
system suffers from the disadvantages of high risk of collateral damages,
difficulties hitting manoeuvring targets, need of wind compensation, and high
demands on ammunition supply logistics due to the large amount of needed
projectiles to achieve appropriate hit probability.
Another type of known weapon system relies on firing guided weapons,
which comprises some sort of sensor means for detecting the target position.
This type of guided weapon system, which have high target hit probability,
suffers from the disadvantages of high cost for each weapon due to the
required internal sensor means, for example a radar system, and thus a high
system cost of the guidance system.
There is thus a need for an improved guidance system removing the above
mentioned disadvantages.
SUMMARY
The object of the present invention is to provide an inventive system and
method for tracking and guiding at least one object where the previously
mentioned problems are partly avoided. This object is achieved by the
features of the characterising portion of claim 1, wherein said guidance
system comprises a base station including an optical imaging system, which
is configured to determine the angular position vector of said at least one
object, an optica! communication link for transmitting guidance control
commands from said base station to said at least one object, and steering
means provided on said at least one object for adjusting the direction of said
at least one object in response to said guidance control commands.
Said object is further achieved by the features of the characterising portion of
claim 15, wherein said guiding method comprises the steps of determining
the angular position vector of said at least one object by means of an optical
imaging system located on a base station, transmitting guidance control
commands from said base station to said at least one object by means of an
optical communication link, and steering said at least one object in response
to said guidance controi commands by means of steering means provided on
said at least one object.
According to a further advantageous aspect of the invention, said guidance
system is suitable for tracking and guiding at least one object to an individual
end position, where said at least one object is estimated to coincide with the
position of at least one target.
According to a further advantageous aspect of the invention, said base
station further comprises an optical lens system, and said optical imaging
system comprises an image sensor configured to detect light, in particular
infrared IR light, received through said optical lens system
According to a further advantageous aspect of the invention, at least one
optical transmitter, preferably an IR radiation source, a LED transmitter, or a
laser transmitter, is provided on said at least one object, and configured to
emit a light beam detectable by said optical imaging system.
According to a further advantageous aspect of the invention, said optical
communication link comprises at least one optical uplink transmitter located
on said base station, wherein said at least one optical uplink transmitter is a
laser transmitter, such as a laser diode, or a LED transmitter, and at least
one optical uplink receiver, such as a photo detector, located on said at least
one object.
According to a further advantageous aspect of the invention, said optical
communication link further includes downlink communication means
comprising at least one optical transmitter located on said at least one object,
wherein said at least one optical transmitter is a laser transmitter, such as a
laser diode, or a LED transmitter, at least one optical downlink receiver
located on said base station, wherein said optical communication link is
configured to measure the range to said at least one object by calculating the
elapsed time between the sending of an interrogator signal from said at least
one uplink transmitter and the receipt of a return signal from said at least one
optical transmitter.
According to a further advantageous aspect of the invention, said at least one
optical transmitter of said at least one object is configured to emit a light
beam covering the location of said optical downlink receiver during the
trajectory of said at least one object.
According to a further advantageous aspect of the invention, a laser
transmitter or LED transmitter located on said at least one object functions
both as said at least one optical transmitter for emitting a light beam
detectable by said optical imaging system, and said at least one optica!
transmitter of said optical communication link.
According to a further advantageous aspect of the invention, said optical
imaging system further is configured to determine the angular position vector
of said at least one target, and said base station further comprises a laser
range finder configured to determine the range to said at least one target.
According to a further advantageous aspect of the invention, said guidance
system is configured to track and guide multiple objects, wherein each of said
multiple objects is guided towards an individual end position determined for
each individual object.
According to a further advantageous aspect of the invention, said optical
imaging system, said optical communication link, and preferably also said
laser range finder are configured to use the same optical lens system.
According to a further advantageous aspect of the invention, said at least one
object is a weapon such as a projectile, bomb, rocket or missile, and said
steering means preferably comprises vector control, impulse rocket, or
aerodynamic steering means, such as at least one rudder, ram air system, air
deflecting means, or the like.
According to a further advantageous aspect of the invention, said guidance
system further comprises a control system including an object tracker, which
receives object angle position vector information from said optical imaging
system, and preferably also object range information from said optical
communication link, and being configured to estimate object information,
such as object position, object heading, and object speed of said at least one
object, and an object controller configured to produce guidance control
commands for at least one object based upon corresponding estimated
object information, and preferably also operator information.
According to a further advantageous aspect of the invention, said control
system further includes a target tracker, which receives target angle position
vector information from said optical imaging system, and preferably also
target range information from said laser range finder, and being configured to
estimate target information, such as target position, target speed, and target
heading of said at least one target, wherein target information is supplied to
the object controller, and wherein the target tracker is configured to transmit
launch information to said at least one object launching device for launching
said at least one object.
BRIEF DESCRIPTION OF THE DRAWINGS
The present invention will now be described in detail with reference to the
figures, wherein:
Figure 1 shows a schematic block diagram of an embodiment of the
invention;
Figure 2 shows the locations of the base station, two objects and a target,
as well as their light beams during guiding and tracking of the
guidance system according to the invention.
DETAILED DESCRIPTION
In the following one embodiment of the invention is shown and described,
simply by way of illustration of one mode of carrying out the invention.
Figure 1 shows an embodiment of the guidance system according to the
invention for tracking and guiding an object 5. The guidance system
comprises a base station 1, from which the object 5 is controlled. The object
5 can constitute any type of a land-, sea- or air based object capable of
responding to guidance control commands received from the base station 1,
for example an unmanned aerial vehicle UAV, but the guidance system is
particularly suitable for guiding and tracking one or more in-flight weapons,
such as projectiles, bombs, rockets and missiles, to an end position, where
the weapon is estimated to coincide with a position of a moving or stationary
target.
The base station 1 comprises an optical sight 30 for locating the target
position. The optical sight 30, for example a FLIR system, comprises an
optical imaging system 3 including an image sensor, which is configured to
determine an angular position vector of the target with respect to a fixed
coordinate system, preferably a horizontally fixed spherical coordinate
system. The optical sight can, for example, be provided with inclination
sensors for this purpose. The image sensor can be of a charge-coupled
device CCD type image sensor, a complementary metal-oxidesemiconductor
CMOS type image sensor, or similar type of image sensor.
The optical imaging system 3 is also configured to determine an angular
position vector of the object 5 with respect to said coordinate system. The
image sensor can be selected to detect light of any suitable wave length
depending on the specific object 5 and/or target to be detected. For example,
if the object 5 and/or target emit infrared IR light, the image sensor can be
selected and configured to be sensitive to IR light spectrum.
To assure good position estimation performance of the object 5 by the optical
imaging system 3, an optical transmitter 9 can be provided on the object 5 to
emit light, which simplifies detection by the image sensor, such that detection
of the object 5 by the optical imaging system 3 is improved. The optical
transmitter 9 can be an IR radiation source, a LED transmitter, a laser
transmitter, or the like.
One type of IR radiation source comprises an exothermic charge, which can
be ignited so that it produces IR radiation visible to the image sensor.
Alternatively, the optical transmitter 9 can be LED or laser transmitter, which
is configured to emit a light beam towards the image sensor, preferably in the
IR light spectrum.
The accuracy of the measured angular position vector of the object 5 is
directly dependent on the resolution of the image sensor, and the optical
zoom of the optical imaging system 3. The sampling rate of the image sensor
can be selected to correspond to the maximal assumed angular velocity of
the object 5 and/or target, such that the angular position vector of the object
5 and/or target can be tracked with a sufficiently high degree of accuracy. A
standard sampling rate of the image sensor is 50 Hz.
The emitted or reflected light from the object 5 and/or target is received by
the image sensor through an optical lens system 4 at the base station 1. The
optical lens system 4 determines the angle of view of the optical imaging
system 3, which angle of view is selected to fit the specific use of the
inventive guidance system. The optical lens system 4 might comprise
variable zoom lenses, such that the focal length, and hence the angle of
view, of the optical lens system 4 can be altered mechanically to fit the
current distance to the object 5, and/or the spread between tracked multiple
objects 5 .
The guidance system further comprises an optical communication link, which
is configured to transmit guidance control commands from the base station 1
to the object 5. For this purpose, the optical communication link comprises an
optical uplink transmitter 7 , such as a laser transmitter, preferably a laser
diode, or a LED transmitter, provided on the base station 1, wherein the light
beam emitted by the optical uplink transmitter 7 is preferably aligned with the
optical sight 30 and the optical imaging system 3. The light emitted by the
optical uplink transmitter 7 is received by an optical uplink receiver 8 , such as
a photo detector, provided on the object 5.
The optical imaging system 3 and the optical uplink transmitter 7 can
advantageously use the same optical lens system 4. In case the guidance
system also includes a laser range finder 10 for measuring range to the
target position, the light beam 46 emitted by said laser range finder 10 can
advantageously also be aligned with the light beam of the optical uplink
transmitter 7, and the optical imaging system 3, and use the same optical
lens system 4 as the optical imaging system 3 and/or said optical
communication link, thereby further contributing to reduced system cost of
the guidance system, and simplifying alignment. The range to the target is
measured by calculating the time between transmitting of a light beam 46
emitted by the laser range finder 10 towards the target, and the receipt of
light reflection 17 from the target.
The object 5 comprises steering means for adjusting the direction of the
object 5 in response to the guidance control commands received from the
base station 1. In case the object 5 is a weapon such as a projectile, bomb,
rocket or missile, the steering means preferably comprises vector control,
side impulse rockets, or aerodynamic steering means, such as rudders, ram
air systems or other type of air deflecting means.
The above described guidance system controls the object 5 during its path
toward its end position, based on the angular position vector of the object 5
determined by the optica! imaging system 3. Information of the range to the
object 5 from the base station 1 is estimated based upon dead reckoning of
the object 5. Accurate range estimation to the object 5 is however an
important factor for improved guidance performance, since a disadvantage of
dead reckoning is that the position estimation error is cumulative and grows
with time. One solution for providing a more accurate estimate of the range to
the object 5 is to provide the object 5 with transponder means that will
generate a reply signal upon receipt of proper interrogation signal from the
base station 1. The optical communication link may additionally be provided
with downlink communications means, such that said transponder means
may receive and transmit signals with the base station, besides sending
auxiliary data from the object 5 down to the base station 1.
Such downlink communication means can be set up by providing the object 5
with an optical transmitter 11 serving as downlink transmitter, wherein the
optical transmitter 11 is a laser transmitter, preferably a laser diode, or a LED
transmitter, and using the optical imaging system 3 as an optical downlink
receiver.
By means of the downlink communication means, the optical communication
link is capable of measuring the range to the object 5. This is performed by
calculating the elapsed time between the transmitting of an interrogator
signal carried by a light beam 42 emitted by the optical uplink transmitter 7
and the receipt of a return signal, which is carried by a light beam 44 emitted
by the optical transmitter 11. The optical downlink receiver 3 receives
transmitting information 19 from the optical uplink transmitter 7 to perform
said range calculation. Due to the limited sampling rate of the image sensor
in the optical imaging system 3, it might be necessary, especially in case
multiple objects are guided simultaneously, to provide multiple transmit time
slots for the objects 5. The time slots can for example be controlled by timing
control means 14 at the object 5, which timing control means 14 delay the
transmitting of the return signal of the optical transmitter 11 with an individual
time period specific for each object 5, such that each individual object 5 can
transmit its return signai in an individual time slot. Alternatively, the time slots
for transmitting return signals might be controlled by a message comprised in
the interrogator signal.
The downlink communication means also provides the possibility to inform
the base station 1 of several parameters of the object 5, such as general
operational status, error reports, acknowledgement of received guidance
control commands, etc.
The laser or LED transmitter located on the object 5 can serve both as said
optical transmitter 9 for emitting light simplifying angular position vector
determination by said optical imaging system 3, and said optical transmitter
11 of said downlink communication means. Alternatively, separate light
transmitting means can be provided for each of said two functions.
Where the object 5 is expected to perform substanttai changes in the heading
direction during its trajectory toward the end position, neither the light beam
44 emitted by the optical transmitter 9, 11 on the object 5, nor the scope of
reception of the optical uplink receiver 8 might not always cover the base
station 1, such that guidance control commands transmitted from the base
station 1 are not received, rendering accurate tracking and guiding of the
object 5 difficult, in such events, multiple optical transmitters 9 , 11 and optical
uplink receivers 8 are advantageously provided on the object 5, which
transmitters/receivers 9, 11, 8 are arranged such that they combined are
capable of transmitting/receiving light in a wider scope.
The guidance system is preferably configured to be able to track and guide
multiple objects 5. In case the target is a moving target, and all objects 5 are
estimated to reach their end positions at different time points, each object 5
will be guided towards an individual end position. The signals carried by the
light beams 42, 44 of the optical communication link is preferably then
multiplexed to convey information to multiple objects 5 on a single optical
communication link. Examples of well-known multiplexing techniques suitable
for this purpose are time-division multiplexing and code-division multiplexing.
Moreover, when the object 5 is provided with separate optical transmitters 9,
11 for said two functions of communication and angle positioning vector
determination, also the optical transmitter 9 for the angle positioning vector
determination need some kind of individual identification, for example an
individual identity transmit code or frequency/coiour specific for that object 5,
When simultaneously guiding and tracking multiple objects 5, a separate
optical downlink receiver 12, such as a photo detector, is preferably provided
on the base station 1, and used as optical downlink receiver 12 in the optical
communication link. The transmitting information 19 from the optical uplink
transmitter 7 would then be transmitted to the separate optical receiver 12 to
perform said range calculation. An advantage of using a separate optical
downlink receiver 12 for the downlink communication means is the possibility
to use higher sampling rates, and thus also higher communication speed,
than otherwise possible using the optical imaging system 3 as optical
downlink receiver. As a result, multiple objects 5 can be guided and tracked
with higher accuracy of the measured range to the objects 5.
The guidance system according to the invention preferably also comprises a
control system 20 for tracking and guiding the object 5 . The control system
20 preferably includes an object tracker 2 1, which based upon angle position
vector information 18 of the object 5 continuously received from the optical
imaging system 3 estimates object information 26 of the object 5, such as
position, heading, and speed of said at least one object 5 on a continuous
basis. The object tracker 2 1 preferably also receives range information 18, 25
of the object 5 measured either by the optical imaging system 3, or the
separate downlink receiver 12.
The object information 26 estimated by the object tracker 2 1 is subsequently
delivered to an object controller 22, which produces guidance control
commands 29 for said object 5 based upon said received estimated object
information 26, and operator information 3 1 from an operator 2, such as
object launch acknowledgment, navigation commands, and emergency
interruption of launched object 5 . The object controller 22 might also control
other functions of the object 5. For example, in case the object 5 is a
weapon, the object controller 22 can control the point of time of detonation
based upon the estimated weapon position and target position, thereby
eliminating the need for other expensive solutions for this purpose, such as a
proximity fuse.
The control system 20 preferably also comprises a target tracker 23, which
continuously supplies the object controller 22 with estimated target
information 27, such as target position, target speed, and target heading of
the target For this purpose, the target tracker 23 continuously receives target
angle position vector information 32 from said optical imaging system 3,
preferably operator information 31 from the operator 2 such as target
sefection, and preferably also target range information 28 from the laser
range finder 10.
Preferably, the object tracker 2 1 comprises a tracking filter for tracking the
object 5, and the target tracker 23 comprises a tracking filter for tracking the
target, which tracking filters can be nonlinear state estimation filters, for
example extended Kalman filters or a particle filters.
The control system will thus continuously respond to dynamic changes of the
object 5 and target, and send correction commands to adjust the path of the
object 5 in case the end position of the object 5 is no longer estimated to
coincide with the position of the target.
Preferably, the orientation of the optical sight 30 including the optical imaging
system 3, the laser range finder 10, and the optical communication link is
automatically controlled to always aim at the target location, for example
controlled by target tracker 23. The operator 2 can follow the course of
events on display means, which receives object and target angle position
vector information 34 from the optical imaging system 3.
In case the object 5 is launched by a launching device 24, for example
artillery or a rocker launcher, the target tracker 23 preferably also, prior to
launch, based upon said target information 27, and object characteristic,
such as speed, range, manoeuvrability, etc, determines launch information
33, such as suitable launch direction of the object 5, and a suitable time point
of launch in case the object 5 is a projectile, the target tracker 23 also
determines a preliminary ballistic trajectory. Subsequently, the target tracker
23 transmits the determined launch information 33 to said weapon launching
device 24. Optionally, the weapon launching device 24 aiso receives operator
information 3 1 from the operator 2, for example launch acknowledgement to
avoid any risk of erroneous launch.
Fig. 2 illustrates schematically the base station 1, and a first and second
object 5, 15 in their in-flight trajectory towards individual end positions 51, 52,
where each object 5, 15 is controlied to coincide with the position of a moving
target 50, for example an airplane. The base station continuously tracks the
position of the target 50 and of the first and second objects 5,15, and
transmits guidance control commands to said objects 5, 15, continuously
taking into account any variables that influence the determined individual end
position 51, 52 of each object 5, 15, such as the position, heading and speed
of the target 50, position, heading, and speed of said objects 5, 15, and the
like.
Fig. 2 further schematically illustrates the light beams 42, 44 of the optical
communication link, and the light beam 46 of the laser range finder 10, as
well as the angle of view 47 of the optical imaging system 3. Said angle of
view 47 being defined as the angle between limiting lines 48, which delimit
the scope of view of said optical imaging system 3. The first object 5
comprises an optical uplink receiver 8, and an optical transmitter 9 , 11, which
emits a light beam 44. The light beam of the second object 15 illustrated
closest to the base station 1 is not shown.
Each optical transmitter 7, 9, 11 of the optical communication link are
configured to emit light with a pre-determined beam angle 41, 43. The
selection of the beam angle 41, 43 for each optical transmitter 7, 9, 11 is
based upon the type of use the guidance system is configured for, such that
the light beams 42, 44 substantially always covers the corresponding
receiver 8, 3 , 12 during the trajectory of the first and second object 5, 15
toward their individual end positions 5 1, 52.
For example, the beam angie 4 1 of the optical uplink transmitter 7 is selected
such that uplink light beam 42 substantially always covers all objects 5, 15 to
be tracked and guided by the guidance system. The direction of the uplink
light beam 42 is preferably fixed at the target position 50, and might thus
follow the target position 50 in case the target is moving and/or the guidance
system is moving. However, the direction of the uplink light beam 42 might
alternatively be fixed to one of the objects 5, 15, or simply be fixed relative
the guidance system. Consequently, a suitable beam angle 4 1 is selected
depending on the type of beam direction control applied, and the estimated
position/trajectory of the target 50 and the estimated trajectory of the objects
5, 15 during the estimated guidance period.
The beam angle 43 of the light beam 44 emitted by the optical transmitter 9,
11 is selected in a similar manner, taking into account the estimated
trajectory of the first object 5, the estimated direction of said light beam 44,
and the estimated position of the corresponding optical receiver 3, 12 of the
base station 1 during the estimated guidance period.
The beam angle 45 of the laser range finder beam 46 is selected to optimally
measure the range to the target 50 taking into account the estimated
position/trajectory and size of the target 50 during the estimated guidance
period.
The beam angles 41, 43, 45 of the light beams 42, 44, 46 of the optical uplink
transmitter 7, the optical transmitter 9, 11, and the laser range finder 10 can
be adjusted by optical lenses. The optical lens system 4 determines the
beam angle 4 1 of the light beam 42 emitted by the optical uplink transmitter
7, and optionally also the beam angle 45 of the light beam 46 transmitted by
the laser range finder 10.
The optical imaging system 3 receives light via the optical lens system 4,
which is provided with a set of lenses to provide a suitable angle of view 47
of the optical imaging system 3. Said angle of view 47 is selected in a
manner similar to the beam angle 4 1 of the light beam 42 emitted by the
optical uplink transmitter 7, namely depending on the type of vision direction
control applied, the estimated position/trajectory of the target 50 and the
estimated trajectory of the objects 5, 15 during the estimated guidance
period.
Preferably, the sight 30 is a unit in which the optical uplink transmitter 7, the
optical downlink receiver 8, the optical imaging system 3, and the laser range
finder 10 are arranged. Preferably, they all use the same optical lens system
4, and their light beams 42, 46 and axis of scope of view are all oriented
aligned in the same direction. Furthermore, the optical lens system 4 is
preferably provided with a variable-focus lens system to assure that the
objects 5, 15 are always illuminated by the optical uplink transmitter 7 , and to
assure that the optical imaging system 3 always receives the light emitted by
the optical transmitter 9, 11 on each object 5, 15.
According to an aspect of the invention, it might however when guiding the
objects 5, 15 towards a moving target 50 be advantageously to deviate the
direction of the optica! communication link, i.e. the orientation of light beam
42 emitted by the optical uplink transmitter 7, and the scope of view of the
optica! downlink receiver 12 away from the axis of the optical imaging system
3, and towards the objects 5, 15, because the objects 5, 15 will during their
trajectory towards a moving target 50 likely not travel directly towards the
position of the target 50, but instead heading for the determined individual
end positions 51, 52, where the objects 5, 15 are estimated to coincide with
the position of the target 50. Hence, the light beam 42 emitted by the optical
uplink transmitter 7 , and the scope of view of the optrcal downlink receiver 12
would thus better cover the trajectory of the objects, which would lead to
improved communication with and range measurement of the objects 5, 15.
The term angular position vector of the object 5, 15 or target 50 is herein
defined as the angular position vector to the object 5, 15 or target 50 with
respect to a fixed three dimensional orthogonal coordinate system, such as
the spherical coordinate system, which preferably is fixed relative to the
horizon, and having the origin at the location of the base station 1. The
angular position vector is preferably defined by azimuth and elevation angles
to the apparent position of an object 5, 15, relative to said coordinate system.
So far, the detailed description of invention and the mode for carrying out the
invention has been mainly disclosed with respect to guidance and tracking of
one or more objects, each toward an individual end position, where said
object coincides with the position of a target. The invention is however
equally suitable for guiding and tracking multiple objects toward multiple
moving or stationary targets.
As will be realised, the invention is capable of modification in various obvious
respects, all without departing from the scope of the appended claims.
Accordingly, the drawings and the description thereto are to be regarded as
illustrative in nature, and not restrictive.

CLAIMS
1. A guidance system for tracking and guiding at least one object (5, 15),
characterised in that said guidance system comprises:
a base station (1) including an optical imaging system (3)
configured to determine the angular position vector of said at least one
object (5, 15),
an optical communication link for transmitting guidance control
commands from said base station (1) to said at least one object (5,
15),
steering means provided on said at least one object (5, 15) for
adjusting the direction of said at least one object (5, 15) in response to
said guidance control commands.
2. The guidance system according to claim 1, characterised in that said
guidance system is suitable for tracking and guiding at least one
object (5, 15) to an individual end position (51, 52), where said at least
one object (5, 15) is estimated to coincide with the position of at least
one target (50).
3 The guidance system according to any of the preceding claims,
characterised in that said base station (1) further comprises an
optical lens system (4), and in that said optical imaging system (3)
comprises an image sensor configured to detect light, in particular
infrared IR light, received through said optical lens system (4)
4. The guidance system according to any of the preceding claims,
characterised in that at least one optical transmitter (9), preferably
an IR radiation source, a LED transmitter, or a laser transmitter, is
provided on said at least one object (5, 15), and configured to emit a
light beam (44) detectable by said optical imaging system (3).
5. The guidance system according to any of the preceding cfaims,
characterised in that said optical communication link comprises:
at least one optical uplink transmitter (7) located on said base
station (1), wherein said at least one optical uplink transmitter (7) is a
laser transmitter, such as a laser diode, or a LED transmitter, and
at least one optical uplink receiver (8), such as a photo detector,
located on said at least one object (5, 15).
6. The tracking and guidance system according to any of the preceding
claims, characterised in that said optical communication link further
includes downlink communication means comprising:
at least one optica! transmitter (1 1) located on said at least one
object (5, 15), wherein said at least one optical transmitter (1 1) is a
laser transmitter, such as a laser diode, or a LED transmitter,
at least one optical downlink receiver (3, 12) located on said
base station (1),
wherein said optical communication link is configured to measure
the range to said at least one object (5, 15) by calculating the elapsed
time between the sending of an interrogator signal from said at least
one uplink transmitter (7) and the receipt of a return signal from said at
least one optical transmitter (1 1).
7. The guidance system according to claim 6 , characterised in that said
at least one optical transmitter (1 1) of said at least one object (5, 15) is
configured to emit a light beam (44) covering the location of said
optical downlink receiver (3, 12) during the trajectory of said at least
one object (5, 15).
8. The guidance system according to claims 4 and 7, characterised in
that a laser transmitter or LED transmitter located on said at least one
object (5, 15) functions both as said at least one optical transmitter (9)
for emitting a light beam (44) detectable by said optical imaging
system (3), and said at least one optical transmitter ( 11) of said optical
communication link.
9. The guidance system according to any of claims 2 to 8, characterised
in that said optical imaging system (3) further is configured to
determine the angular position vector of said at least one target (50),
and said base station (1) further comprises a laser range finder (10)
configured to determine the range to said at least one target (50).
10. The guidance system according to any of claims 2 to 9, characterised
in that said guidance system is configured to track and guide multiple
objects (5, 15), wherein each of said multiple objects (5, 15) is guided
towards an individual end position (51, 52) determined for each
individual object (5, 15).
11.The guidance system according to any of claims 3 to 10,
characterised in that said optical imaging system (3), said optical
communication link, and preferably also said laser range finder (10)
are configured to use the same optical lens system (4).
12. The guidance system according to any of the preceding claims,
characterised in that said at least one object (5, 15) is a weapon
such as a projectile, bomb, rocket or missile, and said steering means
preferably comprises vector control, impulse rocket, or aerodynamic
steering means, such as at least one rudder, ram air system, air
deflecting means, or the like.
13. The guidance system according to claim 12, characterised in that
said guidance system further comprises a control system (20)
including:
an object tracker (21), which receives object angle position
vector information from said optical imaging system (3), and preferably
also object range information from said optical communication link,
and being configured to estimate object information (26), such as
object position, object heading, and object speed of said at least one
object (5, 15), and a
object controller (22) configured to produce guidance control
commands for at least one object (5, 15) based upon corresponding
estimated object information (26), and preferably also operator
information (31).
14.The guidance system according to claim 13, characterised in that
said control system (20) further includes a target tracker (23), which
receives target angle position vector information (32) from said optical
imaging system (3), and preferably also target range information (28)
from said laser range finder (10), and being configured to estimate
target information (27), such as target position, target speed, and
target heading of said at least one target (50), and wherein target
information (27) is supplied to the object controller (22).
15. A guiding method for tracking and guiding at least one object (5, 15),
characterised in that said guiding method comprises the steps of:
determining the angular position vector of said at least one
object (5, 15) by means of an optical imaging system (3) located on a
base station (1),
transmitting guidance control commands from said base station
(1) to said at least one object (5, 15) by means of an optical
communication link,
steering said at least one object (5, 15) in response to said
guidance control commands by means of steering means provided on
said at least one object (5, 15).