Discriminatory missile guidance system

Claim 2

In a discriminatory guidance system for self-directing an aircraft to home on a selected target disposed within a group of similar targets, a screen for receiving the target image, a first and second cyclically operating generating means cooperatively performing to convert the received screen image into a series of sequential electrical image signals, pulse producing means actuated by the first generating means for providing a tracking pulse at a given time during selected cycles of the first generating means, gating means responsive to the pulse producing means and jointly controlled by both generating means to allow tracking pulse passage during a given portion of the second generated cycle, and coincident measuring means energized by the electrical image signals and the gated tracking pulses to provide error signals proportional thereto, said error signals fed back to the pulse prodUcing means for controlling the time during the cycle of the first generating means at which the tracking pulse is generated.

Claim 3

Apparatus for electrically tracking the variable position of a received light image whose outer edge cuts a fixed line on the light sensitive screen of a television type pickup tube comprising: generating means for cyclically scanning the screen with a plurality of lines parallel to the fixed line and adjacent thereto, trigger means actuated by the generating means and responsive to a feedback signal for providing a tracking pulse during each scan line whose position is controlled by the value of this feedback signal, time coincidence comparing means energized by both the tracking pulses and the pickup tube output to generate an error signal, and memory means responsive to this error signal for modifying the feedback signal enabling the tracking pulse position to follow the received image edge.

Claim 4

Apparatus for electrically tracking the variable position of a received light image whose outer edge cuts a fixed line on the light sensitive screen of a television type pickup tube comprising: generating means for cyclically scanning the screen with a plurality of lines parallel to the fixed line and adjacent thereto, trigger means actuated by the generating means and responsive to a feedback signal for providing a tracking pulse during each scan line whose position is controlled by the value of this feedback signal, time coincidence comparing means energized by both the tracking pulses and the pickup tube output to generate an error signal, and memory means responsive to this error signal for modifying the feedback signal enabling the tracking pulse position to follow the received image edge.

Claim 5

In a discriminatory guidance system for self-directing an aircraft to home on a selected target disposed within a group of similar targets, a screen for receiving the target image, a first and second cyclically operating generating means cooperatively performing at different frequencies to convert the screen image to a series of sequential electrical signals, pulse producing means associated with the first generating means for providing pulses at a given time during each cycle of the first generating means, gating means responsive to the pulse producing means and jointly controlled by both generating means to provide tracking pulses during a given portion of each second generated cycle, and comparing means for measuring the time coincidence between the tracking pulses and preselected electrical signals and providing a feedback signal to the pulse producing means for varying the time at which pulses are produced during each cycle, thereby enabling the tracking pulses to coincide in time with given electrical signals.

Claim 6

In a discriminatory guidance system for self-directing an aircraft to home on a selected target disposed within a group of similar targets, a screen for receiving the target image, a first and second cyclically operating generating means cooperatively performing at different frequencies to convert the screen image to a series of sequential electrical signals, pulse producing means associated with the first generating means for providing pulses at a given time during each cycle of the first generating means, gating means responsive to the pulse producing means and jointly controlled by both generating means to provide tracking pulses during a given portion of each second generated cycle, and comparing means for measuring the time coincidence between the tracking pulses and preselected electrical signals and providing a feedback signal to the pulse producing means for varying the time at which pulses are produced during each cycle, thereby enabling the tracking pulses to coincide in time with given electrical signals.

Claim 7

A discriminatory guidance system for directing an aircraft on a homing pursuit path to a selected target comprising a light responsive screen to receive reflected light from the target and from the surrounding media, converting means for sequentially generating electrical signals corresponding to the light energy received by given adjoining incremental areas on the screen, means for differentiating these electrical signals to determine rapid changes of light energy received by adjacent screen areas, inverting means responsive to said differentiated means to provide a series of unidirectional pulses corresponding to said rapid light changes, and an intelligence unit comprising means to automatically track the positions that target edge images cut the screen at a bisecting position, said intelligence unit being energized by said unidirectional pulses to perform time comparison of the tracking pulses and the unidirectional pulses to generate control signals for enabling the aircraft to home by pursuit navigation on this target, the differentiated signals enabling the system to distinguish the target irrespective of the relative amount of light received from the target and background media.

Claim 8

A discriminatory guidance system for directing an aircraft on a homing pursuit path to a selected target comprising a light responsive screen to receive reflected light from the target and from the surrounding media, converting means for sequentially generating electrical signals corresponding to the light energy received by given adjoining incremental areas on the screen, means for differentiating these electrical signals to determine rapid changes of light energy received by adjacent screen areas, inverting means responsive to said differentiated means to provide a series of unidirectional pulses corresponding to said rapid light changes, and an intelligence unit comprising means to automatically track the positions that target edge images cut the screen at a bisecting position, said intelligence unit being energized by said unidirectional pulses to perform time comparison of the tracking pulses and the unidirectional pulses to generate control signals for enabling the aircraft to home by pursuit navigation on this target, the differentiated signals enabling the system to distinguish the target irrespective of the relative amount of light received from the target and background media.

Claim 9

Apparatus for electrically tracking the variable position of a light image received on the screen of a Vidicon tube, comprising generating means for scanning the screen with a plurality of lines in regularly occurring sequence, trigger means responsive to the generating means and responsive to a feedback signal for providing a tracking pulse during each scan line whose position is controlled by the value of this feedback signal, time coincidence means energized by both the tracking pulses and Vidicon signals representing electrically converted scanned image edges to generate an error signal, and memory means responsive to this error signal for modifying the feedback signal enabling the tracking pulse position to follow the received image edge, said feedback signal representative of the screen position of one edge of the received light image.

Claim 10

Apparatus for electrically tracking the variable position of a light image received on the screen of a Vidicon tube, comprising generating means for scanning the screen with a plurality of lines in regularly occurring sequence, trigger means responsive to the generating means and responsive to a feedback signal for providing a tracking pulse during each scan line whose position is controlled by the value of this feedback signal, time coincidence means energized by both the tracking pulses and Vidicon signals representing electrically converted scanned image edges to generate an error signal, and memory means responsive to this error signal for modifying the feedback signal enabling the tracking pulse position to follow the received image edge, said feedback signal representative of the screen position of one edge of the received light image.

Claim 11

A discriminatory guidance system for directing an aircraft to home on a given object disposed within a group of similar objects comprising a photo-electric sensing means including a light sensitive screen to receive a target image, elevation follow-up means for continuously tracking the two positions on the screen bisecting vertical line being cut by the upper and lower outside edges of the received object image, azimuth follow-up means for continuously tracking the two positions on the screen bisecting horizontal line being cut by left and right outside edges of the object image, memory means in each follow-up means enabling approximate tracking of the target edge image positions should the sensed image be interrupted by employment of the prior rate of change of the target edge image position, and comparing means associated with each follow-up means for computing inequality of opposite tracked target edge image position from the screen center and adapted to generate error signals, the error signals thereby providing azimuth and elevation guidance for directing the aircraft on a homing course to the target.

Claim 12

A discriminatory guidance system for directing an aircraft to home on a given object disposed within a group of similar objects comprising a photo-electric sensing means including a light sensitive screen to receive a target image, elevation follow-up means for continuously tracking the two positions on the screen bisecting vertical line being cut by the upper and lower outside edges of the received object image, azimuth follow-up means for continuously tracking the two positions on the screen bisecting horizontal line being cut by left and right outside edges of the object image, memory means in each follow-up means enabling approximate tracking of the target edge image positions should the sensed image be interrupted by employment of the prior rate of change of the target edge image position, and comparing means associated with each follow-up means for computing inequality of opposite tracked target edge image position from the screen center and adapted to generate error signals, the error signals thereby providing azimuth and elevation guidance for directing the aircraft on a homing course to the target.

Claim 13

In a discriminatory guidance system for self-directing a missile to home on a selected complex target, a photo-electric screen to receive the target image, a plurality of means for tracking each continually changing position of the target image outside edges cutting the horizontal and vertical screen bisecting lines, each tracking means including a unit for generating a measurable signal corresponding to a predicted position upon the screen of one target image outside edge, and including a comparing unit and a memory unit, the comparing unit operable in response to the measurable signal and the photo-electrical screen to unbalance should the measurable signal vary from actual received image edge position, and the memory unit adapted to continue the unbalance in accordance with the prior unbalance rate of change should the light image be interrupted, said unbalance fed back to control the generating unit thereby enabling the measurable signal to continuously follow the varying image edge screen position.

Claim 14

In a discriminatory guidance system for self-directing a missile to home on a selected complex target, a photo-electric screen to receive the target image, a plurality of means for tracking each continually changing position of the target image outside edges cutting the horizontal and vertical screen bisecting lines, each tracking means including a unit for generating a measurable signal corresponding to a predicted position upon the screen of one target image outside edge, and including a comparing unit and a memory unit, the comparing unit operable in response to the measurable signal and the photo-electrical screen to unbalance should the measurable signal vary from actual received image edge position, and the memory unit adapted to continue the unbalance in accordance with the prior unbalance rate of change should the light image be interrupted, said unbalance fed back to control the generating unit thereby enabling the measurable signal to continuously follow the varying image edge screen position.

Claim 15

A discriminatory homing guidance system for an aircraft comprising a target image detecting screen, an azimuth control unit responsive to the horizontal position of the received target image on the screen to unbalance when the aircraft is heading off-target in azimuth, an elevation position control unit responsive to the vertical position of the received target image to unbalance when the aircraft is heading off-target in elevation, memory means comprising a first velocity feedback unit to continuously generate signals proportional to the prior rate of change of the target image being tracked and a first integrator responsive to said velocity feedback unit and chargeable at the prior rate of change in the absence of correcting signals from the azimuth control unit, said memory means being thereby adapted to continue the azimuth unbalance in accordance with the prior unbalance rate of change when the target light image is interrupted, and memory means comprising a second velocity feedback unit to continuously generate signals proportional to the prior rate of change of the target image being tracked and a second integrator responsive to said second velocity feedback unit and chargeable at the prior rate of change in the absence of correcting signals from the elevation control unit, said last-named memory means being thereby adapted to continue the elevation unbalance in accordance with the prior unbalance rate of change when the target light image is interrupted.

Claim 16

A discriminatory homing guidance system for an aircraft comprising a target image detecting screen, an azimuth control unit responsive to the horizontal position of the received target image on the screen to unbalance when the aircraft is heading off-target in azimuth, an elevation position control unit responsive to the vertical position of the received target image to unbalance when the aircraft is heading off-target in elevation, memory means comprising a first velocity feedback unit to continuously generate signals proportional to the prior rate of change of the target image being tracked and a first integrator responsive to said velocity feedback unit and chargeable at the prior rate of change in the absence of correcting signals from the azimuth control unit, said memory means being thereby adapted to continue the azimuth unbalance in accordance with the prior unbalance rate of change when the target light image is interrupted, and memory means comprising a second velocity feedback unit to continuously generate signals proportional to the prior rate of change of the target image being tracked and a second integrator responsive to said second velocity feedback unit and chargeable at the prior rate of change in the absence of correcting signals from the elevation control unit, said last-named memory means being thereby adapted to continue the elevation unbalance in accordance with the prior unbalance rate of change when the target light image is interrupted.

Claim 17

An automatically operating guidance system for an aircraft comprising a television camera tube to receive a target image, generating means for cyclically scanning the tube to convert the image to sequentially generated video signals, first time control means interposed between the tube and generating means responsive to preselected values of the generating means for dividing each scAn cycle into a plurality of distinct scanning patterns, an azimuth intelligence channel, a second time control means associated therewith, the second time control means jointly responsive to the first time control means and generating means to open the azimuth intelligence channel for a time interval during one of said scanning patterns, the azimuth intelligence channel responsive to the generating means and the video signals for determining the correct azimuth heading toward the target during the opened interval, an elevation intelligence channel, a third time control means associated therewith, the third time control means jointly responsive to the first time control means and generating means to open the elevation intelligence channel for a time interval during a second of said distinct scanning patterns, the elevation intelligence channel responsive to the generating means and the video signals for determining the correct elevation heading toward the target during this second opened interval.

Claim 18

An automatically operating guidance system for an aircraft comprising a television camera tube to receive a target image, generating means for cyclically scanning the tube to convert the image to sequentially generated video signals, first time control means interposed between the tube and generating means responsive to preselected values of the generating means for dividing each scAn cycle into a plurality of distinct scanning patterns, an azimuth intelligence channel, a second time control means associated therewith, the second time control means jointly responsive to the first time control means and generating means to open the azimuth intelligence channel for a time interval during one of said scanning patterns, the azimuth intelligence channel responsive to the generating means and the video signals for determining the correct azimuth heading toward the target during the opened interval, an elevation intelligence channel, a third time control means associated therewith, the third time control means jointly responsive to the first time control means and generating means to open the elevation intelligence channel for a time interval during a second of said distinct scanning patterns, the elevation intelligence channel responsive to the generating means and the video signals for determining the correct elevation heading toward the target during this second opened interval.

Claim 19

Apparatus for continuously tracking the variable position of a point on the light sensitive screen of a television camera tube having an electrical output, which point is equidistant from opposite edges of a received light image cutting a fixed line on the screen face comprising: means for sequentially scanning the screen face with a plurality of lines parallel to the fixed line and adjacent thereto, first trigger means responsive to the scanning means and responsive to a first feedback signal for providing a tracking pulse during each scan line whose position is controlled by the value of this feedback signal, second trigger means responsive to the scanning means and responsive to a second feedback signal for providing a tracking pulse during each scan line whose position is controlled by the value of the second feedback signal, first and second measuring means each responsive to the related tracking means and the camera tube electrical output to compare the tracking pulses with selected tube signals representing the opposite target edge images and generate said first and second feedback signals in accordance therewith, and a first output means additionally responsive to both first and second feedback signals to determine their average value, said average value proportional to the desired point.

Claim 20

Apparatus for continuously tracking the variable position of a point on the light sensitive screen of a television camera tube having an electrical output, which point is equidistant from opposite edges of a received light image cutting a fixed line on the screen face comprising: means for sequentially scanning the screen face with a plurality of lines parallel to the fixed line and adjacent thereto, first trigger means responsive to the scanning means and responsive to a first feedback signal for providing a tracking pulse during each scan line whose position is controlled by the value of this feedback signal, second trigger means responsive to the scanning means and responsive to a second feedback signal for providing a tracking pulse during each scan line whose position is controlled by the value of the second feedback signal, first and second measuring means each responsive to the related tracking means and the camera tube electrical output to compare the tracking pulses with selected tube signals representing the opposite target edge images and generate said first and second feedback signals in accordance therewith, and a first output means additionally responsive to both first and second feedback signals to determine their average value, said average value proportional to the desired point.

Claim 21

Apparatus for continuously determining the position of a point on the light sensitive screen of a cathode ray type optico-electrical converting tube having an electrical output, which point is equidistant from two opposite pairs of outside edges of a received light image cutting two fixed intersecting lines on the screen face comprising: means for sequentially scanning the screen face with a plurality of lines parallel to one fixed line and adjacent thereto during a given interval in response to a cyclically generated first initiating signal, first and second tracking means responsive to the scanning means during this interval to continuously predict the screen positions of two opposite image edges cutting this first fixed line in response to first and second feedback signals respectively, first and second computing means responsive to related tracking means and the tube output to compare the predicted position of each edge with the scanned position and generate said first and second feedback signals in accordance therewith, and a first output means additionally responsive to both first and second feedback signals to determine their average value; means for sequentially scanning the screen face with a plurality of lines parallel to the second fixed line and adjacent thereto during a second fixed interval in response to a cyclically occurring second initiating signal generated at the termination of the first interval, third and fourth tracking means responsive to the scanning means during this second interval to continuously predict the screen position of two opposite image edges cutting this second fixed line in response to third and fourth feedback signals respectively, tHird and fourth computing means responsive to the related tracking means and the tube output to compare the predicted positions of each edge with the scanned position and generates said third and fourth feedback signals in accordance therewith, and a second output means additionally responsive to both third and fourth feedback signals to determine their average value, whereby the two derived average values determine the desired screen position.

Claim 22

Apparatus for continuously determining the position of a point on the light sensitive screen of a cathode ray type optico-electrical converting tube having an electrical output, which point is equidistant from two opposite pairs of outside edges of a received light image cutting two fixed intersecting lines on the screen face comprising: means for sequentially scanning the screen face with a plurality of lines parallel to one fixed line and adjacent thereto during a given interval in response to a cyclically generated first initiating signal, first and second tracking means responsive to the scanning means during this interval to continuously predict the screen positions of two opposite image edges cutting this first fixed line in response to first and second feedback signals respectively, first and second computing means responsive to related tracking means and the tube output to compare the predicted position of each edge with the scanned position and generate said first and second feedback signals in accordance therewith, and a first output means additionally responsive to both first and second feedback signals to determine their average value; means for sequentially scanning the screen face with a plurality of lines parallel to the second fixed line and adjacent thereto during a second fixed interval in response to a cyclically occurring second initiating signal generated at the termination of the first interval, third and fourth tracking means responsive to the scanning means during this second interval to continuously predict the screen position of two opposite image edges cutting this second fixed line in response to third and fourth feedback signals respectively, tHird and fourth computing means responsive to the related tracking means and the tube output to compare the predicted positions of each edge with the scanned position and generates said third and fourth feedback signals in accordance therewith, and a second output means additionally responsive to both third and fourth feedback signals to determine their average value, whereby the two derived average values determine the desired screen position.

Claim 23

Apparatus for electrically tracking the variable position of a light image received on the screen of a Vidicon tube by continuously determining the distances of the light image edges from a given position on the screen comprising means for scanning the screen with a plurality of lines passing through the given screen position and cutting the edges of the received light image, a plurality of tracking generators each responsive to the scanning means for producing a tracking pulse during each scan line whose position is controlled by the value of a separate feedback voltage, a plurality of time coincidence circuits each responsive to one of the tracking generators and the Vidicon tube output to provide correction signals, a plurality of memory means each responsive to one time coincidence circuit for generating one of said separate feedback voltages, and a plurality of comparing means each responsive to a different pair of said memory means for determining the average value of two feedback voltages, said average values indicative of the instantaneous position of the light image on the Vidicon screen.

Claim 24

Apparatus for electrically tracking the variable position of a light image received on the screen of a Vidicon tube by continuously determining the distances of the light image edges from a given position on the screen comprising means for scanning the screen with a plurality of lines passing through the given screen position and cutting the edges of the received light image, a plurality of tracking generators each responsive to the scanning means for producing a tracking pulse during each scan line whose position is controlled by the value of a separate feedback voltage, a plurality of time coincidence circuits each responsive to one of the tracking generators and the Vidicon tube output to provide correction signals, a plurality of memory means each responsive to one time coincidence circuit for generating one of said separate feedback voltages, and a plurality of comparing means each responsive to a different pair of said memory means for determining the average value of two feedback voltages, said average values indicative of the instantaneous position of the light image on the Vidicon screen.