Kombiniertes Sensorlenksystem

A guidance system for a homing missile has an observer filter (41) which utilizes signals representative of range (R), range rate (R/), acceleration normal to the line-of-sight of the missile ( @ M), optionally acceleration along the line-of-sight of the missile ( @ M), and line-of-sight rate of the missile to a target ( lambda /M). The observer filter (41) includes means (47, 43, 49), responsive to a lateral acceleration signal ( @ M), a measured range rate signal (R/m) and a range signal (R) for providing an estimated line-of-sight rate signal ( lambda /est). The measured line-of-sight rate signal ( lambda /m) and the estimated line-of-sight rate signal ( lambda /est) are applied to a subtractor (55) to produce a difference output signal. The difference output signal is applied to a multiplier (57) to produce an error signal which is added (51) to a line-of-sight acceleration signal ( lambda /est) to minimize the difference output signal. The estimated line-of-sight rate signal ( lambda /est) provides a more accurate estimate of the actual line-of-sight rate of the missile to the target than that which can be obtained with a standard proportional navigation system, and is applied, in combination (59) with the measured range rate signal (R/m)to control an autopilot (23).