| 摘要 |
PROBLEM TO BE SOLVED: To provide a setting method which enables obtaining of an arbitrary curved line as a set flying path simply by inputting an intermediate point of the flying path. SOLUTION: Several points 12 on a set flying path are selected as intermediate points 12 and the immediate points 12 are inputted into an automatically piloting device of a flying object from a firing device immediately before the firing of the flying object. A spline function 14 (containing a polynomial function) passing several intermediate points 12 is calculated in the automatically piloting device to generate a flying path. After the firing of the flying object, the current position and speed of the flying object are ceaselessly inputted into the automatically piloting device from an inertial navigation system to compare an acceleration (n) to be inputted from the inertial navigation system with a command acceleration nc in the automatically piloting device. Furthermore, a steering angle commandδc is calculated considering the control of an angular velocity for stabilizing an airframe to be outputted to a steering device. Thus, the flying object flies along the set path and passes through the immediate points in succession to reach the final target point 13.
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