Angle measurement for a wide field-of-view (WFOV) semi-active laser (SAL) seeker
A SAL seeker focuses laser energy reflected off a target into a spot on the surface of a multi-segment non-imaging detector. A matched filter is responsive to the normalized detector response to estimate an angle measurement to the target. The matched filter is particularly well-suited for use in wide FOV systems as it unambiguously selects the angle measurement over the extended FOV whereas the conventional centroid calculation introduces ambiguity. The centroid calculation and angle selection may be used to improve the search and selection of the matched filter. Alternately, the matched filter may be used to disambiguate the angle selection based on the centroid calculation.
1. A semi-active laser (SAL) guided projectile, comprising:
a projectile;
one or more control surfaces on the projectile;
a dome that is mounted on one end of the body, said dome transmissive of laser energy;
a seeker mounted on the projectile behind the dome, comprising,
a non-imaging optical sub-assembly that focuses incident laser energy reflected off a target into a spot;
a detector comprising a plurality of segments, each segment responsive to incident laser energy to output a measure of the integrated energy;
means for normalizing the measures by dividing each measure by the largest measure to generate a normalized response;
a matched filter (MF) comprising a plurality of component matched filters at different angle measurements that span a field of view (FOV), each said component matched filter comprising a number of weights corresponding to the normalized response of the like number of segments of the detector for a particular angle measurement, said MF responsive to the normalized response to search the FOV and select the component matched filter and angle measurement; and
a flight control system that receives the angle measurement and generates control signals to manipulate the one or more control surfaces to control the flight of the projectile.
2. The SAL guided projectile of claim 1 , wherein the seeker is fixedly mounted to the projectile.
3. The SAL guided projectile of claim 1 , further comprising:
a spreader that spatially homogenizes laser energy transmitted through the optical sub-assembly to increase the spot size.
4. The SAL guided projectile of claim 3 , wherein the spreader comprises a diffuser.
5. The SAL guided projectile of claim 1 , wherein the angular resolution of the matched filter increases near the boundaries between detector segments.
6. The SAL guided projectile of claim 1 , wherein the angular resolution of the matched filter is variable throughout the field of view of the sensor.
7. The SAL guided projectile of claim 1 , wherein the matched filter selected the component matched filter based on a sum of absolute differences metric between the weights and the measured normalized response for each segment.
8. The SAL guided projectile of claim 1 , wherein the matched filter selected the component matched filter based on a multiplication of absolute differences metric between the weights and the measured normalized response for each segment.
9. The SAL guided projectile of claim 1 , wherein the matched filter selected the component matched filter based on a root sum square of differences metric between the weights and the measured normalized response for each segment.
10. The SAL guided projectile of claim 1 , wherein the matched filter only searches the angle measures in the portion of the FOV corresponding to the segment with the largest measure to select the component matched filter.
11. The SAL guided projectile of claim 1 , further comprising:
means for comparing the measures of the normalized response to calculate a spatial displacement of the centroid of the incident energy; and
a calibration table mapping spatial displacement to a single angle measurement in a central monotonic region of the FOV and to a pair of angle measurements in an extended non-monotonic region of the FOV;
said matched filter only searching neighborhoods of the single angle measurement of pair of angle measurements in the FOV to select the component matched filter.
12. The SAL guided projectile of claim 1 , wherein the detector comprises a quad-cell detector that generates four measures, one measure for each cell.
13. The SAL guided projectile of claim 1 , wherein the angle measurement output by the matched filter is provided to the flight control system.
14. The SAL guided projectile of claim 1 , wherein further comprising:
means for comparing the measures of the normalized response to calculate a spatial displacement of the centroid of the incident energy; and
a calibration table mapping spatial displacement to a single angle measurement in a central monotonic region of the FOV and to a pair of low and high angle measurements in an extended non-monotonic region of the FOV;
said matched filter's output angle measurement selecting the angle measurement from the calibration table to disambiguate the pair of angle measurements in the extended non-monotonic region of the FOV,
said selected angle measurement from the calibration table being provided to the flight control system.
15. The SAL guided projectile of claim 14 , wherein the high angle measurement is undetermined, if said matched filter selects said high angle measurement the angle measurement of the matched filter being provided to the flight control system.
16. The SAL guided projectile of claim 14 , wherein the high angle measurement is undetermined, if said matched filter selects said high angle measurement a directional flag is provided to the flight control system.
17. A semi-active laser (SAL) guided projectile, comprising:
a projectile;
one or more control surfaces on the projectile;
a dome that is mounted on one end of the body, said dome transmissive of laser energy;
a fixed-post seeker mounted on the projectile behind the dome, comprising,
a non-imaging optical sub-assembly that focuses incident laser energy reflected off a target into a spot;
a spreader that spatially homogenizes laser energy transmitted through the optical sub-assembly to increase the spot size;
a quad-cell detector comprising four cells, each cell responsive to incident laser energy to output a measure of the integrated energy;
means for normalizing the measures by dividing each measure by the largest measure to generate a normalized response;
means for comparing the measures of the normalized response to calculate a spatial displacement of the centroid of the incident energy;
a calibration table mapping spatial displacement to a single angle measurement in a central monotonic region of the FOV and to a pair of angle measurements in an extended non-monotonic region of the FOV;
a matched filter (MF) comprising a plurality of component matched filters at different angle measurements that span a field of view (FOV), each said component matched filter comprising a number of weights corresponding to the normalized response of the like number of segments of the detector for a particular angle measurement; and
an angle measurement processor that searches only neighborhoods of the single angle measurement or pair of angle measurements in the FOV corresponding to the spatial displacement of the centroid to select a component matched filter and angle measurement; and
a flight control system that receives the angle measurement and generates control signals to manipulate the one or more control surfaces to control the flight of the projectile.
18. The SAL guided projectile of claim 17 , wherein the angular resolution of the matched filter increases near the boundaries between detector segments.
19. The SAL guided projectile of claim 17 , wherein the matched filter selected the component matched filter based on a sum of absolute differences metric between the weights and the measured normalized response for each segment.
20. The SAL guided projectile of claim 17 , wherein said matched filter's output angle measurement selects the angle measurement from the calibration table to disambiguate the pair of angle measurements in the extended non-monotonic region of the FOV and provides the angle measurement from the calibration table to the flight control system.
21. The SAL guided projectile of claim 17 , wherein said matched filter's angle measurement is provided to the flight control system.
22. A semi-active laser (SAL) detector, comprising:
a non-imaging optical sub-assembly that focuses incident laser energy reflected off a target into a spot;
a detector comprising a plurality of segments, each segment responsive to incident laser energy to output a measure of the integrated energy;
means for normalizing the measures by dividing each measure by the largest measure to generate a normalized response; and
a matched filter (MF) comprising a plurality of component matched filters at different angle measurements that span a field of view (FOV), each said component matched filter comprising a number of weights corresponding to the normalized response of the like number of segments of the detector for a particular angle measurement, said MF responsive to the normalized response to search the FOV and select the component matched filter and angle measurement.
23. The SAL detector of claim 22 , further comprising:
means for comparing the measures of the normalized response to calculate a spatial displacement of the centroid of the incident energy;
a calibration table mapping spatial displacement to a single angle measurement in a central monotonic region of the FOV and to a pair of angle measurements in an extended non-monotonic region of the FOV;
an angle measurement processor that searches only neighborhoods of the single angle measurement or pair of angle measurements in the FOV corresponding to the spatial displacement of the centroid to select a component matched filter and angle measurement.