CN103604316B - Ballistic correction method for multi-bullet shooting - Google Patents

Abstract

The invention discloses a ballistic correction method for multi-bullet shooting. The ballistic correction method is realized through a detector, a command and control unit, a multi-bullet shooting assembly frame, a turret system, an integrated scheduling module, an angle calculating module and a data compensation module. By the method, left and right position deviation xn, upper and lower position deviation yn, heading error angles alpha' n and pitching deviation angle beta'n of frame positions of the multi-bullet shooting assembly frame and an optical axis of the detector, error in ballistic resolving can be eliminated, and shooting precision can be improved.

Description

A kind of trajectory bearing calibration of launching for many bullets

Technical field

The present invention relates to a kind of trajectory bearing calibration, particularly a kind of trajectory bearing calibration of launching for many bullets.

Background technology

For Shell and rocket bullet, it is the effective ways strengthening its striking capabilities that many bullets are launched, and traditional trajectory bearing calibration is the orientation and the relative distance that are obtained target by target-detection unit, thus calculates launch azimuth and launching elevation.The relative bearing of target and relative distance are once determine, both can get standard emission trajectory by trajectory bearing calibration, emission angle is also determined thereupon.In emission process, all chord positions adopt same emission angle to launch, and for many bullets are launched, location deviation and misalignment of axe between different transmitting chord positions, traditional trajectory bearing calibration can not carry out the real-time adjustment of emission angle along with the difference of transmitting chord position, now the different transmitting position deviation of chord position and the misalignment of axe of different chord position directly can cause the landing error of Shell and rocket bullet, finally affect launch accuracy error.

Summary of the invention

The object of the present invention is to provide a kind of trajectory bearing calibration of launching for many bullets, the solution different transmitting position deviation of chord position and the misalignment of axe of different chord position cause the landing error problem of Shell and rocket bullet.

For the trajectory bearing calibration that many bullets are launched, its concrete steps are:

The first step is built and is played emission system more

Play emission system more, comprise: sniffer, command & control unit, many bullets transmitting assembling frame, turret system, integrated dispatch module, angle resolve module and compensation data module, and described integrated dispatch module, angle resolve module and compensation data module is placed in command & control unit.

The function of integrated dispatch module be realize and sniffer, communication between turret system, and record position and the misalignment of axe data of different chord position and sniffer optical axis.

The function that angle resolves module is oblique line distance according to target, the angle of pitch solves and obtains each chord position ballistic solution angle γ.

The function of compensation data module is the position that compensates sticking position difference and bring and angle four deviations.

Sniffer is installed on the below that assembling frame launched by many bullets, and many bullets are launched assembling frame and are arranged on turret system.Sniffer communication interface is connected by cable with integrated dispatch module communication interface, and turret system communication interface is connected by cable with integrated dispatch module communication interface.The communication interface of the communication interface of integrated dispatch module resolves module respectively communication interface and compensation data module with angle is connected by cable.

Second step sniffer is demarcated and is played axis error

Position and the axis of the different chord position of many bullet transmitting assembling framves are had nothing in common with each other, and launch by measuring many bullets the right position deviation x that assembling frame size obtains each chord position and sniffer optical axis _nwith upper-lower position deviation y _n, by measuring the optical axis of sniffer and playing axle acquisition course deviation angle α ' _nwith pitch deviation angle β ' _n, and four deviation datas are recorded in integrated dispatch module.

3rd step sniffer aims at the mark

Sniffer aims at the mark, distance measuring instruction is sent to sniffer by integrated dispatch module, sniffer is to integrated dispatch module passback sniffer to target oblique line distance l, and meanwhile, turret system is to angle of pitch a, the azimuthal angle beta of integrated dispatch module passback target.

4th step data compensating module compensates and plays axis error

Target oblique line distance, the angle of pitch and azimuth are all that position reference and azimuth reference calculating are determined with sniffer, compensation data module by compensating the position and angle four deviation datas of eliminating and bringing because sticking position is different, thus determines the angle of pitch needed for the transmitting on each chord position.

The benchmark of sniffer aims at the angle of pitch and is turret system and is the azimuthal angle beta of turret system to integrated dispatch module passback target to the angle of pitch a of integrated dispatch module passback target, benchmark aiming azimuth.

Then n chord position is relative to the aiming angle of pitch a of target _n, aiming azimuth β _n, oblique distance l _nbe respectively

${\mathrm{\α}}_n=\arctan \frac{l^{\′}\sin a^{\′}}{\sqrt{{x_n}^2+{\left(l^{\′}\cos a^{\′}\right)}^2}}$

${\mathrm{\β}}_n=\mathrm{\β}+\arctan \frac{x_n}{\sqrt{{y_n}^2+l^2}}$

$l_n=\sqrt{l^2+{x_n}^2+{y_n}^2}$

Wherein

$l^{\′}=\sqrt{l^2+{y_n}^2}$

${\mathrm{\α}}^{\′}=\mathrm{\α}-\arctan \frac{y_n}{l}$

Setting M is impact point, T-A _n-D _nfor sniffer and each transmitting chord position nozzle composition plane of departure, wherein T represents sniffer, D _nrepresent guided missile, the A of No. n-th chord position _nrepresent guided missile and the perpendicular intersection of sniffer in the plane of departure of n chord position.

5th step angle resolves the positional information that module calculates target

Angle is resolved module and is solved obtain the elevation information of target relative to sniffer and the horizontal range of target range launch point according to the oblique line of target distance, the angle of pitch.Solution formula is as follows:

h _n＝l _n×sinα _n

d _n＝l _n×cosα _n

In formula: n chord position is a relative to the aiming angle of pitch of target _n, oblique distance is l _n, h _nfor target is relative to the elevation information of sniffer, d _nfor the horizontal range of target and sniffer.

6th step angle is resolved module and is completed solving of ballistic solution angle

Angle resolves the dynamics of module foundation and solving kinematic equation obtains each chord position ballistic solution angle γ.

Using target pitch angle and go out a speed, angular speed initial value as the primary condition solving the differential equation, in conjunction with the aerodynamic parameter of bullet, calculate and obtain overall trajectory parameter.

So far achieve the trajectory launched for many bullets to correct.

This method effectively can be eliminated the different transmitting position deviation of chord position and the misalignment of axe of different chord position when many bullets are launched and cause the landing error of Shell and rocket bullet, improves launch accuracy.

Accompanying drawing explanation

The guided missile of No. n-th chord position in a kind of trajectory bearing calibration of launching for many bullets of Fig. 1, sniffer and relative target bearing figure figure

Detailed description of the invention

For the trajectory bearing calibration that many bullets are launched, its concrete steps are:

The first step is built and is played emission system more

Play emission system more, comprise: sniffer, command & control unit, many bullets transmitting assembling frame, turret system, integrated dispatch module, angle resolve module and compensation data module, and described integrated dispatch module, angle resolve module and compensation data module is placed in command & control unit.

The function of integrated dispatch module be realize and sniffer, communication between turret system, and record position and the misalignment of axe data of different chord position and sniffer optical axis.

The function that angle resolves module is oblique line distance according to target, the angle of pitch solves and obtains each chord position ballistic solution angle γ.

The function of compensation data module is the position that compensates sticking position difference and bring and angle four deviations.

Sniffer is installed on the below that assembling frame launched by many bullets, and many bullets are launched assembling frame and are arranged on turret system.Sniffer communication interface is connected by cable with the integrated dispatch module communication interface of command & control unit, and turret system communication interface is connected by cable with the integrated dispatch module communication interface of command & control unit.The communication interface of the communication interface of integrated dispatch module resolves module respectively communication interface and compensation data module with angle is connected by cable.

Second step sniffer is demarcated and is played axis error

Position and the axis of the different chord position of many bullet transmitting assembling framves are had nothing in common with each other, and launch by measuring many bullets the right position deviation x that assembling frame size obtains each chord position and sniffer optical axis _nwith upper-lower position deviation y _n, by measuring the optical axis of sniffer and playing axle acquisition course deviation angle α ' _nwith pitch deviation angle β ' _n, and four deviation datas are recorded in integrated dispatch module.

3rd step sniffer aims at the mark

Sniffer aims at the mark, distance measuring instruction is sent to sniffer by integrated dispatch module, sniffer is to integrated dispatch module passback sniffer to target oblique line distance l, and meanwhile, turret system is to angle of pitch a, the azimuthal angle beta of integrated dispatch module passback target.

4th step data compensating module compensates and plays axis error

Target oblique line distance, the angle of pitch and azimuth are all that position reference and azimuth reference calculating are determined with sniffer, compensation data module by compensating the position and angle four deviation datas of eliminating and bringing because sticking position is different, thus determines the angle of pitch needed for the transmitting on each chord position.

The benchmark of sniffer aims at the angle of pitch and is turret system and is the azimuthal angle beta of turret system to integrated dispatch module passback target to the angle of pitch a of integrated dispatch module passback target, benchmark aiming azimuth.

Then n chord position is relative to the aiming angle of pitch a of target _n, aiming azimuth β _n, oblique distance l _nbe respectively

${\mathrm{\α}}_n=\arctan \frac{l^{\′}\sin a^{\′}}{\sqrt{{x_n}^2+{\left(l^{\′}\cos a^{\′}\right)}^2}}$

${\mathrm{\β}}_n=\mathrm{\β}+\arctan \frac{x_n}{\sqrt{{y_n}^2+l^2}}$

$l_n=\sqrt{l^2+{x_n}^2+{y_n}^2}$

Wherein

$l^{\′}=\sqrt{l^2+{y_n}^2}$

${\mathrm{\α}}^{\′}=\mathrm{\α}-\arctan \frac{y_n}{l}$

Setting M is impact point, T-A _n-D _nfor sniffer and each transmitting chord position nozzle composition plane of departure, wherein T represents sniffer, D _nrepresent guided missile, the A of No. n-th chord position _nrepresent guided missile and the perpendicular intersection of sniffer in the plane of departure of n chord position.

5th step angle resolves the positional information that module calculates target

Angle is resolved module and is solved obtain the elevation information of target relative to sniffer and the horizontal range of target range launch point according to the oblique line of target distance, the angle of pitch.Solution formula is as follows:

h _n＝l _n×sinα _n

d _n＝l _n×cosα _n

In formula: n chord position is a relative to the aiming angle of pitch of target _n, oblique distance is l _n, h _nfor target is relative to the elevation information of sniffer, d _nfor the horizontal range of target and sniffer.

6th step angle is resolved module and is completed solving of ballistic solution angle

Angle resolves the dynamics of module foundation and solving kinematic equation obtains each chord position ballistic solution angle γ.

Using target pitch angle and go out a speed, angular speed initial value as the primary condition solving the differential equation, in conjunction with the aerodynamic parameter of bullet, calculate and obtain overall trajectory parameter.

So far achieve the trajectory launched for many bullets to correct.

Claims (1)

1., for the trajectory bearing calibration that many bullets are launched, it is characterized in that the concrete steps of this method are:

The first step is built and is played emission system more

Play emission system more, comprise: sniffer, command & control unit, many bullets transmitting assembling frame, turret system, integrated dispatch module, angle resolve module and compensation data module, and described integrated dispatch module, angle resolve module and compensation data module is placed in command & control unit;

The function of integrated dispatch module be realize and sniffer, communication between turret system, and record position and the misalignment of axe data of different chord position and sniffer optical axis;

The function that angle resolves module is oblique line distance according to target, the angle of pitch solves and obtains each chord position ballistic solution angle γ;

The function of compensation data module is the position that compensates sticking position difference and bring and angle four deviations;

Sniffer is installed on the below that assembling frame launched by many bullets, and many bullets are launched assembling frame and are arranged on turret system; Sniffer communication interface is connected by cable with integrated dispatch module communication interface, and turret system communication interface is connected by cable with integrated dispatch module communication interface; The communication interface of the communication interface of integrated dispatch module resolves module respectively communication interface and compensation data module with angle is connected by cable;

Second step sniffer is demarcated and is played axis error

Position and the axis of the different chord position of many bullet transmitting assembling framves are had nothing in common with each other, and launch by measuring many bullets the right position deviation x that assembling frame size obtains each chord position and sniffer optical axis _nwith upper-lower position deviation y _n, by measuring the optical axis of sniffer and playing axle acquisition course deviation angle α ' _nwith pitch deviation angle β ' _n, and four deviation datas are recorded in integrated dispatch module;

3rd step sniffer aims at the mark

Sniffer aims at the mark, distance measuring instruction is sent to sniffer by integrated dispatch module, sniffer is to integrated dispatch module passback sniffer to target oblique line distance l, and meanwhile, turret system is to angle of pitch a, the azimuthal angle beta of integrated dispatch module passback target;

4th step data compensating module compensates and plays axis error

Target oblique line distance, the angle of pitch and azimuth are all that position reference and azimuth reference calculating are determined with sniffer, compensation data module by compensating the position and angle four deviation datas of eliminating and bringing because sticking position is different, thus determines the angle of pitch needed for the transmitting on each chord position;

The benchmark of sniffer aims at the angle of pitch and is turret system and is the azimuthal angle beta of turret system to integrated dispatch module passback target to the angle of pitch a of integrated dispatch module passback target, benchmark aiming azimuth;

Then n chord position is relative to the aiming angle of pitch a of target _n, aiming azimuth β _n, oblique distance l _nbe respectively

${\mathrm{\α}}_n=\arctan \frac{l^{\′}\sin a^{\′}}{\sqrt{{x_n}^2+{\left(l^{\′}\cos a^{\′}\right)}^2}}$

${\mathrm{\β}}_n=\mathrm{\β}+\arctan \frac{x_n}{\sqrt{{y_n}^2+l^2}}$

$l_n=\sqrt{l^2+{x_n}^2+{y_n}^2}$

Wherein

$l^{\′}=\sqrt{l^2+{y_n}^2}$

${\mathrm{\α}}^{\′}=\mathrm{\α}-\arctan \frac{y_n}{l}$

Setting M is impact point, T-A _n-D _nfor sniffer and each transmitting chord position nozzle composition plane of departure, wherein T represents sniffer, D _nrepresent guided missile, the A of No. n-th chord position _nrepresent guided missile and the perpendicular intersection of sniffer in the plane of departure of n chord position;

5th step angle resolves the positional information that module calculates target

Angle is resolved module and is solved obtain the elevation information of target relative to sniffer and the horizontal range of target range launch point according to the oblique line of target distance, the angle of pitch; Solution formula is as follows:

h _n＝l _n×sinα _n

d _n＝l _n×cosα _n

In formula: n chord position is a relative to the aiming angle of pitch of target _n, oblique distance is l _n, h _nfor target is relative to the elevation information of sniffer, d _nfor the horizontal range of target and sniffer;

6th step angle is resolved module and is completed solving of ballistic solution angle

Angle resolves the dynamics of module foundation and solving kinematic equation obtains each chord position ballistic solution angle γ;

Using target pitch angle and go out a speed, angular speed initial value as the primary condition solving the differential equation, in conjunction with the aerodynamic parameter of bullet, calculate and obtain overall trajectory parameter;

So far achieve the trajectory launched for many bullets to correct.