DEVICE FOR ESTIMATING LINE OF SIGHT RATE BY COMPENSATING FOR TIME DELAY OF DIRECTIVITY ANGLE AND AIR VEHICLE INCLUDING THE SAME

摘要

The apparatus for estimating a line-of-sight angular velocity according to an embodiment of the present invention receives a measurement value of a directivity angle of an aircraft from a direction angle measurement unit, a measurement value of an attitude angle and a measurement value of an attitude angular velocity of the aircraft from the attitude angle measurement unit, and the measurement value of the directivity angle , A heading angle estimation unit for generating a heading angle estimation value and a heading angular velocity estimation value based on the attitude angle measurement value and the attitude angular velocity measurement value; A delay compensation unit for generating a directivity angle compensation value by compensating for a time delay included in the directivity angle measurement value by using the directivity angle estimate value and the directivity angle velocity estimate value; A viewing angle estimating unit configured to generate a viewing angle estimate by combining the attitude angle measurement value and the directivity angle compensation value; And a gaze angular velocity estimating unit configured to generate a gaze angular velocity estimate by estimating the gaze angular velocity based on the gaze angle estimate.