CN109084626B - Control terminal and control method of anti-frogman weapon system - Google Patents
Control terminal and control method of anti-frogman weapon system Download PDFInfo
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- CN109084626B CN109084626B CN201810807693.3A CN201810807693A CN109084626B CN 109084626 B CN109084626 B CN 109084626B CN 201810807693 A CN201810807693 A CN 201810807693A CN 109084626 B CN109084626 B CN 109084626B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H13/00—Means of attack or defence not otherwise provided for
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Abstract
A control terminal of an anti-frogman weapon system and a control method thereof comprise a fire control computer (204), an operation keyboard (205) and an operation handle (206) which are connected with the fire control computer (204), a first absolute value encoder (207) for measuring the rotation angle of a plane rotating mechanism (202), a second absolute value encoder (208) for measuring the pitch angle of a pitch mechanism (203), a controller, a residual bomb number counter, a temperature sensor, a humidity sensor, a wind speed sensor and an air pressure sensor; the operation process comprises the following steps: after the detection sonar (3) finds that the target invades a defense area, alarm information is sent out, and the detected target data are sent to a fire control computer (204); the fire control computer (204) carries out conversion and smooth filtering processing on the target information, and displays the processed target information on a display (218) of the fire control computer in real time; and according to the target information, carrying out target threat analysis, and enabling the system to enter an autonomous operation mode or a remote control operation mode.
Description
Technical Field
The invention relates to the technical field of monitoring and defense, in particular to a frogman weapon system control terminal for preventing frogman damage and a control method of the frogman weapon system.
Background
The ocean has abundant resources, has important function on economic development, and has extremely important function and position on military strategy.
With the enhancement of human economic activities, the utilization of marine resources by human beings is more and more frequent, and marine facilities are more and more. The ocean facilities have high value and important function and influence, and are large in loss and difficult to repair after being damaged. These characteristics make it extremely important to protect the safety of marine facilities since it is highly likely to be the target of destruction by terrorists and criminals and also by enemy countries. Some marine facilities have high concealment, environmental specificity, making protection and defense of these facilities extremely difficult. While underwater demolition personnel have been seen as one of the main threats of marine facilities, especially as technology advances, the threat of modern underwater demolition personnel equipped with highly new equipment is greater, such as: submerging near the coast to destroy important strategic facilities (such as nuclear power stations, ports, island reefs, drilling towers and the like); submerging in ports and military bases for destruction; damage to ships parked in harbors, and the like.
CN107860266A discloses an underwater equipment frogman-preventing system, comprising: the sonar transmitting and receiving system transmits and detects first sound waves of the chest cavity and/or the gas cylinder of the external frogman in real time, converts second sound waves emitted by the chest cavity and/or the gas cylinder of the external frogman into first electric signals and transmits the first electric signals to the alarm system, and the magnetic induction system is used for sensing magnetic signals of magnetic field changes caused by metal in the frogman respirator in real time, converting the magnetic signals into second electric signals and transmitting the second electric signals to the alarm system; the alarm system superposes the first electric signal and the second electric signal and compares the superposed first electric signal and the second electric signal with a preset difference signal standard value range, and the alarm system gives an alarm or continues to detect according to a comparison result. The underwater engineering protection device has the advantages of being capable of rapidly detecting and rapidly reacting, achieving active protection of underwater engineering equipment, and avoiding harm caused by underwater damage activities of frogmans.
The anti-frogman remote control weapon station can rotate at any angle during combat, and has high requirements on the quality of data acquisition, processing and transmission. The defending facility in the prior art can detect the appearance of frogman, but does not track the position of frogman in good time, and does not link the position of frogman with defending weapon, and its warning and striking effect are limited. The prior art has the problems of large discreteness of devices, serious temperature drift, difficult information transmission, difficult realization of a complex control algorithm, easy electromagnetic interference and the like of a control terminal based on discrete components.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a control terminal of an anti-frogman weapon system and a control method of the anti-frogman weapon system, which can realize real-time detection, identification, tracking, warning and striking of targets appearing around a marine facility.
In order to solve the above technical problems, in one aspect, the present invention provides a control terminal of an anti-frogman weapon system, the anti-frogman weapon system including a portable fire control box; a weapon station and a detection sonar connected with the portable fire control box; the weapon station is provided with a plane rotating mechanism, a pitching mechanism connected with the top of the plane rotating mechanism and a fire unit connected with the pitching mechanism; the control terminal of the anti-frogman weapon system comprises a fire control computer arranged in the portable fire control box, an operation keyboard and an operation handle which are connected with the fire control computer, a first absolute value encoder for measuring the rotation angle of the plane rotating mechanism, a second absolute value encoder for measuring the pitch angle of the pitch mechanism, a controller for controlling the rotation of the plane rotating mechanism, the pitch of the pitch mechanism and the operation of the fire unit and acquiring angle data of the first absolute value encoder and the second absolute value encoder, a counter for calculating the number of residual bombs in the fire unit, and a temperature sensor, a humidity sensor, an air speed sensor and an air pressure sensor for measuring the environment where the weapon station is located; the controller is connected with the fire control computer through a CAN communication module; the counter, the temperature sensor, the humidity sensor, the wind speed sensor and the air pressure sensor feed measured data back to the fire control computer in real time; the first absolute value encoder feeds back the rotation angle of the plane rotation mechanism to the controller in real time, and the second absolute value encoder feeds back the pitch angle of the pitch mechanism to the controller.
As an improved technical scheme, the control terminal of the anti-frogman weapon system provided by the invention comprises a plane rotating mechanism, a plane rotating mechanism and a control module, wherein the plane rotating mechanism comprises a base, a crossed roller bearing of which the inner ring is connected with the base, a box body connected with the outer ring of the crossed roller bearing, a first motor of which the base is fixedly connected with the box body and of which the output shaft is connected with the base, and a first absolute value encoder which is connected with the box body through a bracket and is connected with one end of the output shaft of the first motor; the pitching mechanism comprises a frame connected with the upper end of the box body, a first trunnion and a second trunnion which are respectively pivoted with the frame, a cradle of which two sides are respectively connected with the first trunnion and the second trunnion, a second motor of which the frame is fixedly connected with the frame and an output shaft is connected with the first trunnion, and a second absolute value encoder which is connected with a shell bracket of the second motor and is connected with one end of a rotor of the second motor; the fire power unit is connected with the cradle; the fire power unit is fixedly connected with the cradle.
In order to solve the above technical problems, in another aspect, the present invention provides a control method of an anti-frogman weapon system, the anti-frogman weapon system including a portable fire control box; a weapon station and a detection sonar connected with the portable fire control box; the weapon station is provided with a plane rotating mechanism, a pitching mechanism connected with the top of the plane rotating mechanism and a fire unit connected with the pitching mechanism; the anti-frogman weapon system is provided with a control terminal, wherein the control terminal comprises a fire control computer arranged in a portable fire control box, an operating keyboard and an operating handle which are connected with the fire control computer, a first absolute value encoder for measuring the rotation angle of the plane rotating mechanism, a second absolute value encoder for measuring the pitch angle of the pitch mechanism, a controller for controlling the rotation of the plane rotating mechanism, the pitch of the pitch mechanism and the operation of the fire unit and acquiring the angle data of the first absolute value encoder and the second absolute value encoder, a counter for calculating the number of residual fire units, and a temperature sensor, a humidity sensor, a wind speed sensor and an air pressure sensor for measuring the environment where the weapon station is located; the controller is connected with a fire control computer through a CAN communication module, the counter, the temperature sensor, the humidity sensor, the wind speed sensor and the air pressure sensor feed measured data back to the fire control computer in real time, the first absolute value encoder feeds the rotation angle of the plane rotating mechanism back to the controller in real time, and the second absolute value encoder feeds the pitching angle of the pitching mechanism back to the controller; the operation process of the anti-frogman weapon system comprises the following steps:
the detection sonar is arranged at the sea bottom or the shore or is hung under a naval vessel, is connected with the portable fire control box through a communication cable and is connected with a power supply;
fixing the weapon station on the shore or a naval vessel, connecting the weapon station with the portable fire control box through a communication cable, and connecting the weapon station with a power supply; carrying out ammunition filling on the fire unit;
after the portable fire control box is powered on and started, initializing the fire control computer, and displaying a human-computer interface on a display after initialization; the fire control computer is communicated with the controller, the first absolute value encoder feeds back the shooting direction angle of the fire unit to the controller in real time, and the second absolute value encoder feeds back the shooting pitch angle of the fire unit to the controller in real time; the counter uploads the information of the number of the residual bullets, the ambient temperature, the humidity, the wind speed and the atmospheric pressure to the fire control computer in real time;
after the system is checked and set and ammunition is normally filled, starting the detection sonar to start up, and enabling the system to enter a duty state;
the detection sonar carries out real-time monitoring, target identification and tracking on a monitored area, and sends alarm information after finding that a target invades a defense area;
after detecting the sonar and finding the target, continuously monitoring the monitored area, and simultaneously tracking and alarming the found target; the detection sonar sends the detected target data to the fire control computer through a communication cable;
the fire control computer receives target information sent by the detection sonar, transforms and smoothes the target information, and displays the processed target information on a display of the fire control computer in real time; according to the target information, carrying out target threat analysis, and enabling the system to enter a combat working mode;
the operational working modes are divided into an autonomous operational mode and a remote control operational mode,
autonomous combat mode: the fire control computer automatically locks the target with the maximum threat degree after analyzing the threat of the target, runs a firing data calculation program to query a firing table according to the target locking information, and obtains the firing direction angle, the pitching angle and the number of the launched bombs of the fire unit; the fire control computer transmits a firing direction angle, a pitching angle and a shot number instruction of the fire unit to the controller through the CAN communication module; the controller controls the plane rotating mechanism to rotate according to the direction angle of the instruction, and the controller controls the pitching mechanism to rotate according to the angle of the instruction; after the fire control computer detects that the firing direction angle and the pitching angle of the fire unit are adjusted in place, the fire control computer transmits a fire unit transmitting instruction to the controller through the CAN communication module, and the controller controls the fire unit to fire according to the transmitting instruction; the controller feeds back the state parameters after the instruction execution to the fire control computer through the CAN bus in real time;
remote control operational mode: an operator starts a manual operation key on the portable fire control box to enter a remote control operation mode; the operator makes a manual decision according to the prompt of the fire control computer, operates the operating handle to lock a target appearing on the display, and manually selects a shooting scheme according to the prompt of the fire control computer; the fire control computer runs a firing data calculation program to inquire the firing table according to the target locking information, and obtains the firing direction angle, the pitching angle and the number of the launched bullets of the fire unit; the fire control computer transmits a firing direction angle, a pitching angle and a shot number instruction of the fire unit to the controller; the controller controls the plane rotating mechanism to rotate according to the direction angle of the instruction, and the controller controls the pitching mechanism to rotate according to the angle of the instruction; after the fire control computer detects that the firing direction angle and the pitching angle of the fire unit are adjusted in place, ready information is sent out, an operator presses a firing control button, and the controller controls the fire unit to fire according to a firing instruction; the controller feeds back the state parameters after the instruction execution to the fire control computer through the CAN bus in real time;
when the system displays that the number of the residual ammunition is insufficient, ammunition filling is carried out on the fire unit manually.
As the preferred technical scheme of the invention, the control method of the anti-frogman weapon system provided by the invention comprises the steps that target threat analysis comprises a fire control computer analyzing target data transmitted by a detection sonar into a target list, wherein the target list comprises coordinates, course, navigational speed and target type, and the fire control computer calculates and judges threat level according to the following target threat degree formula;
the threat degree formula is W (k 1) W1+ k 2W 2+ k 3W 3+ k 4) W4
W1, assigning W1 different values for the threat degree value of the target type according to 4 threat levels of an unmanned underwater vehicle, a frogman carrier and a closed frogman;
w2, dividing danger grades according to the size of a target bulwark angle for a course threat degree value, dividing 10 angle intervals at 0-90 degrees into 10 threat grades, and giving W2 different numerical values; the target bulwark angle is an included angle between a connecting line of the protected marine facility and the found underwater target and the course of the underwater target, when the target bulwark angle is more than or equal to 90 degrees, the target is gradually far away from the protected marine facility, and no attempt of attacking the protected marine facility is made; when the target bulwarks are less than 90 degrees, the target approaches the protected marine facility and attempts to attack the protected marine facility are made;
w3, wherein the threat degree value is a navigational speed threat degree value, the larger the target navigational speed is, the larger the threat is, 10 speed intervals are divided in the range of 2 to 20 sections of navigational speed, 10 threat levels are divided, and different values are given to W3;
w4, wherein the distance between the target and the threat degree value is W4 different values, the closer the target is to the self, the larger the threat is, 10 distance intervals are divided in the range of the target distance from 100m to 1000m, 10 threat levels are divided;
k1, K2, K3 and K4 are weighting coefficients of all factors, the more important the factors are, the larger the corresponding weighting coefficient is, the larger the value is given;
w is a target threat degree value, threat levels are divided according to the W value, and when the first set value is less than or equal to W, the threat level is high; when the second set value is less than or equal to W and less than the first set value, the threat level is medium; when the third set value is less than or equal to W and less than the second set value, the threat level is low; when W is less than a third set value, the threat level is zero; the first set value > the second set value > the third set value.
In a preferred embodiment of the present invention, a fire unit firing direction angle β calculation model is as follows:
the direction angle absolute value beta' of the locking target relative to the fire unit on the horizontal plane is calculated according to the following formula:
β＇＝arctan(|GExyz(3)/GExyz(1)|),β＇∈(0,90°)
since the actual firing direction angle β has positive and negative values, and is greater than 90 °, the final firing direction angle is required to be based on GEThe xyz component is transformed to positive and negative, and the final actual firing direction angle β is transformed as follows:
1) if G isExyz (3) is not less than 0 and GExyz(1)>0, β is β';
2) if G isExyz (3) is not less than 0 and GExyz(1)<0, β is 180- β';
3) if G isExyz(3)>0, and GExyz (1) ═ 0, then β ═ 90 °;
4) if G isExyz (3) is not more than 0, and GExyz(1)>0, β is- β';
5) if G isExyz (3) is not more than 0, and GExyz(1)<0, β ═ 180 ° + β';
6) if G isExyz(3)<0, and GExyz (1) ═ 0, β ═ 90 °;
GExyz being the components of two directions on the horizontal plane under the geographic coordinates
GExyz(3)＝GE(ez2-ez1)
GExyz(1)＝GE(ex2-ex1)
GEIs a transformation matrix from a geocentric coordinate system to a geographic coordinate system
Coordinate values of ex1 and ez1 fire unit on horizontal plane under geocentric coordinate system
Coordinate values of the targets locked by ex2 and ez2 on the horizontal plane under the geocentric coordinate system
The shooting pitch angle of the firepower unit is calculated by adopting a ballistic differential equation set method according to the distance from the firepower unit to a locking target, the shot launching speed of the firepower unit, the ambient temperature, the humidity, the wind speed and the air pressure parameters obtained by the temperature sensor, the humidity sensor, the wind speed sensor and the air pressure sensor, and then a 7-order polynomial of the fire table is fitted by adopting a least square method:
θ＝k0+k1*x-1+k2*x2+k3*x-3+k4*x-4+k5*x-5+k6*x-6+k7*x-7
in the formula: x: distance unit m of fire unit from locking target
θ: shooting pitch angle unit °
k0, k1, k2, k3, k4, k5, k6, and k7 are constants.
The technical scheme provided by the invention can conveniently and automatically adjust the shooting direction and the pitching angle of the firepower unit. The system can realize real-time detection, identification, tracking, warning and striking of targets appearing around marine facilities.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of the structural principles of an embodiment anti-frogman weapon system;
FIG. 2 is a schematic structural diagram of a weapon station of an embodiment anti-frogman weapon system;
FIG. 3 is a schematic diagram of a planar rotary mechanism configuration of the weapon station of FIG. 2;
FIG. 4 is a schematic structural diagram of a pitch mechanism of the weapon station of FIG. 2;
FIG. 5 is a schematic view of the axial cross-sectional structure of FIG. 4;
FIG. 6 is a schematic diagram of the construction of a portable fire control box of an embodiment of an anti-frogman weapon system;
fig. 7 is a schematic structural diagram of a control terminal of the anti-frogman weapon system according to the embodiment.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 to 7, the control terminal of the anti-frogman weapon system comprises a portable fire control box 1, a weapon station 2 and a detection sonar 3 connected with the portable fire control box 1, wherein the weapon station 2 is provided with a plane rotation mechanism 202, a pitching mechanism 203 connected with the top of the plane rotation mechanism 202, a fire unit 201 connected with the pitching mechanism 203, the control terminal of the anti-frogman weapon system comprises a fire control computer 204 arranged in the portable fire control box 1, an operation keyboard 205, an operation handle 206 and a display 218 connected with the fire control computer 204, a first absolute value encoder 207 for measuring the rotation angle of the plane rotation mechanism 202, a second absolute value encoder 208 for measuring the pitching angle of the pitching mechanism 203, a controller for controlling the rotation of the plane rotation mechanism 202, the pitching mechanism 203 and the fire unit 201 to operate and collecting the angle data of the first absolute value encoder 207 and the second absolute value encoder 208, a counter for calculating the number of the residual bombs in the firepower unit 201, a temperature sensor for measuring the environment of the weapon station 2, a humidity sensor, an air speed sensor and an air pressure sensor; the controller is connected with the fire control computer 204 through a CAN communication module; the counter, the temperature sensor, the humidity sensor, the wind speed sensor and the air pressure sensor feed measured data back to the fire control computer 204 in real time; the first absolute value encoder 207 feeds back the rotation angle of the plane rotation mechanism 202 to the controller in real time, the second absolute value encoder 208 feeds back the pitch angle of the pitch mechanism 203 to the controller, and the controller feeds back the rotation angle information of the plane rotation mechanism 202 and the pitch angle information of the pitch mechanism 203 to the fire control computer 204 in time.
Alternatively, as shown in fig. 3 to 5, in the control terminal of the anti-frogman weapon system provided by the present invention, the planar rotation mechanism 202 comprises a base 209, a cross roller bearing 210 whose inner ring is connected with the base 209, a box 211 connected with the outer ring of the cross roller bearing 210, a first motor whose base is fixedly connected with the base 209 and whose output shaft 212 is in transmission connection with the box 211, and a first absolute value encoder 207 connected with the box 211 through a bracket and connected with one end of the output shaft 212 of the first motor; the pitching mechanism 203 comprises a frame 213 connected with the upper end of the box body 211, a first trunnion 214 and a second trunnion 215 respectively pivoted with the frame 213, a cradle 216 with two sides respectively connected with the first trunnion 214 and the second trunnion 215, a second motor 217 with a base fixedly connected with the frame 213 and an output shaft connected with the first trunnion 214, and a second absolute value encoder 208 connected with a shell bracket of the second motor 217 and connected with one end of a rotor of the second motor 217; the fire unit 201 is connected with the cradle 216; the thermal unit 201 is fixedly connected with the cradle 216. The base 209 of the plane rotation mechanism 202 is connected to the housing 211 by the cross roller bearing 210, and since the rollers are in linear contact with the rail surface, the rigidity is high, and a high-precision rotation motion can be obtained, and an error in adjusting the firing direction of the firing unit 201 can be reduced.
The first motor and the second motor 217 can be selected from Hamamanace harmonic speed reducing motors, the motor has the characteristics of light weight, small size, high precision and high reliability, and the motor has a self-locking function, can exert a locking effect on a machine assembly and is fixed in position.
The horizontal shooting direction of the thermal unit 201 can be adjusted by the plane rotation mechanism 202, and the shooting pitch angle of the thermal unit 201 can be adjusted by the pitch mechanism 203, thereby realizing the tracking of the target.
The operation process of the anti-frogman weapon system comprises the following steps:
the detection sonar 3 is arranged at the sea bottom or the shore or is hung under a naval vessel, is connected with the portable fire control box 1 through a communication cable and is connected with a power supply;
fixing the weapon station on the shore or a naval vessel, connecting the weapon station with the portable fire control box 1 through a communication cable, and connecting the weapon station with a power supply; ammunition loading is performed on the fire unit 201;
after the portable fire control box 1 is powered on and started, initializing a fire control computer, and displaying a human-computer interface on a display after initialization; the fire control computer is communicated with the controller, the first absolute value encoder 207 feeds back the shooting direction angle of the fire unit 201 to the controller in real time, and the second absolute value encoder 208 feeds back the shooting pitch angle of the fire unit 201 to the controller in real time; the counter, the temperature sensor, the humidity sensor, the wind speed sensor and the air pressure sensor upload the information of the number of the residual bullets, the environmental temperature, the humidity, the wind speed and the atmospheric pressure information to the fire control computer 204 in real time;
after the system is checked and set and ammunition is normally filled, starting the detection sonar 3 to start up, and enabling the system to enter an on-duty state;
the detection sonar 3 carries out real-time monitoring, target identification and tracking on a monitored area, and after the target is found to invade a defense area, the detection sonar 3 sends alarm information;
after detecting the sonar 3 to find the target, continuously monitoring the monitored area, and simultaneously tracking and alarming the found target; the detection sonar 3 sends the detected target data to the fire control computer 204 through a communication cable;
the fire control computer 204 receives the target information sent by the detection sonar 3, transforms and smoothes the target information, and displays the processed target information on the display 218 in real time; according to the target information, carrying out target threat analysis, and enabling the system to enter a combat working mode;
the operational working modes are divided into an autonomous operational mode and a remote control operational mode,
autonomous combat mode: the fire control computer 204 automatically locks the target with the maximum threat degree after analyzing the threat of the target, runs a firing data calculation program to query the firing table according to the target locking information, and obtains the firing direction angle, the pitching angle and the number of the launched bombs of the fire unit 201; the fire control computer 204 transmits the firing direction angle, the pitching angle and the shot number instruction of the fire unit 201 to the controller through the CAN communication module; the controller controls the plane rotating mechanism 202 to rotate according to the instructed direction angle, and the controller controls the pitching mechanism 203 to rotate according to the instructed angle; after the fire control computer 204 detects that the firing direction angle and the pitching angle of the fire unit 201 are adjusted in place, the fire control computer 204 transmits a fire unit 201 emission instruction to the controller through the CAN communication module, and the controller controls the fire unit 201 to fire according to the emission instruction; the controller feeds back the state parameters after the instruction execution to the fire control computer through the CAN bus in real time;
remote control operational mode: an operator starts a manual operation key on the portable fire control box 1 to enter a remote control operation mode; the operator makes a manual decision according to the prompt of the fire control computer 204, operates the operating handle 206 to lock the target appearing on the display 218, and manually selects a shooting scheme according to the prompt of the fire control computer 204; the fire control computer 204 runs a firing data calculation program to inquire the firing table according to the target locking information, and obtains the firing direction angle, the pitching angle and the number of the launched bombs of the fire unit 201; the fire control computer 204 transmits a shooting direction angle, a pitching angle and a shot number instruction of the fire unit 201 to the controller; the controller controls the plane rotating mechanism 202 to rotate according to the instructed direction angle, and the controller controls the pitching mechanism 203 to rotate according to the instructed angle; after detecting that the shooting direction angle and the pitching angle of the fire unit 201 are adjusted in place, the fire control computer 204 sends out ready information, an operator presses a shooting control button, and the controller controls the fire unit 201 to shoot according to a shooting instruction; the controller feeds back the state parameters after the instruction execution to the fire control computer through the CAN bus in real time;
when the system displays that the number of the residual ammunition is insufficient, ammunition filling is performed on the thermal unit 201 manually.
The target threat analysis comprises the steps that the fire control computer 204 analyzes target data transmitted by the detection sonar 3 into a target list, the target list comprises coordinates, a course, a navigation speed and a target type, and the fire control computer 204 calculates and judges a threat level according to the following target threat degree formula;
the threat degree formula is W (k 1) W1+ k 2W 2+ k 3W 3+ k 4) W4
W1, assigning W1 different values for the threat degree value of the target type according to 4 threat levels of an unmanned underwater vehicle, a frogman carrier and a closed frogman;
w2, dividing danger grades according to the size of a target bulwark angle for a course threat degree value, dividing 10 angle intervals at 0-90 degrees into 10 threat grades, and giving W2 different numerical values; the target bulwark angle is an included angle between a connecting line of the protected marine facility and the found underwater target and the course of the underwater target, when the target bulwark angle is more than or equal to 90 degrees, the target is gradually far away from the protected marine facility, and no attempt of attacking the protected marine facility is made; when the target bulwarks are less than 90 degrees, the target approaches the protected marine facility and attempts to attack the protected marine facility are made;
w3, wherein the threat degree value is a navigational speed threat degree value, the larger the target navigational speed is, the larger the threat is, 10 speed intervals are divided in the range of 2 to 20 sections of navigational speed, 10 threat levels are divided, and different values are given to W3;
w4, wherein the distance between the target and the threat degree value is W4 different values, the closer the target is to the self, the larger the threat is, 10 distance intervals are divided in the range of the target distance from 100m to 1000m, 10 threat levels are divided;
k1, K2, K3 and K4 are weighting coefficients of all factors, the more important the factors are, the larger the corresponding weighting coefficient is, the larger the value is given;
w is a target threat degree value, threat levels are divided according to the W value, and when the first set value is less than or equal to W, the threat level is high; when the second set value is less than or equal to W and less than the first set value, the threat level is medium; when the third set value is less than or equal to W and less than the second set value, the threat level is low; when W is less than a third set value, the threat level is zero; the first set value > the second set value > the third set value.
The firing direction angle β calculation model of the fire unit 201 is as follows:
the directional angle absolute value β' of the lock target on the horizontal plane with respect to the fire unit 201 is calculated by the following formula:
β＇＝arctan(|GExyz(3)/GExyz(1)|),β＇∈(0,90°)
since the actual firing direction angle β has positive and negative values, and is greater than 90 °, the actual firing direction angle is required to be based on GEThe xyz component is transformed to positive and negative, and the final actual firing direction angle β is transformed as follows:
1) if G isExyz (3) is not less than 0 and GExyz(1)>0, β is β';
2) if G isExyz (3) is not less than 0 and GExyz(1)<0, β is 180- β';
3) if G isExyz(3)>0, and GExyz (1) ═ 0, then β ═ 90 °;
4) if G isExyz (3) is not more than 0, and GExyz(1)>0, β is- β';
5) if G isExyz (3) is not more than 0, and GExyz(1)<0, β ═ 180 ° + β';
6) if G isExyz(3)<0, and GExyz (1) ═ 0, β ═ 90 °;
GExyz being the components of two directions on the horizontal plane under the geographic coordinates
GExyz(3)＝GE(ez2-ez1)
GExyz(1)＝GE(ex2-ex1)
GEIs a transformation matrix from a geocentric coordinate system to a geographic coordinate system
Coordinate values of the ex1 and ez1 fire unit 201 on the horizontal plane under the geocentric coordinate system
Coordinate values of the targets locked by ex2 and ez2 on the horizontal plane under the geocentric coordinate system
The shooting pitch angle of the fire unit 201 is calculated according to parameters such as the distance from the fire unit 201 to a locked target, the shot launching speed of the fire unit 201, the ambient temperature, the humidity, the wind speed, the air pressure and the like obtained by the fire unit 201, the temperature sensor, the humidity sensor, the wind speed sensor and the air pressure sensor, according to the theory and method provided by 'artillery and ammunition theory' of version 1 of the publication of Beijing university of science and engineering, 2009, by adopting a ballistic differential equation set method, a fire unit shooter (the style is as shown in the following table 1), and then fitting a 7-order polynomial of the shooter by adopting a least square method:
θ＝k0+k1*x-1+k2*x2+k3*x-3+k4*x-4+k5*x-5+k6*x-6+k7*x-7
in the formula: x: distance unit m of weapon station from locking target
θ: shooting pitch angle unit °
k0, k1, k2, k3, k4, k5, k6, and k7 are constants.
Table 1: fire unit shooting meter
Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the claims of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A control method of an anti-frogman weapon system, the anti-frogman weapon system comprises a portable fire control box (1); a weapon station (2) and a detection sonar (3) which are connected with the portable fire control box (1); the weapon station (2) is provided with a plane rotating mechanism (202), a pitching mechanism (203) connected with the top of the plane rotating mechanism (202), and a firepower unit (201) connected with the pitching mechanism (203); the anti-frogman weapon system is provided with a control terminal, the control terminal comprises a fire control computer (204) arranged in the portable fire control box (1), an operation keyboard (205) and an operation handle (206) which are connected with the fire control computer (204), a first absolute value encoder (207) for measuring the rotation angle of the plane rotating mechanism (202), a second absolute value encoder (208) for measuring the pitch angle of the pitch mechanism (203), a controller for controlling the rotation of the plane rotating mechanism (202), the pitch of the pitch mechanism (203) and the operation of the firepower unit (201) and collecting the angle data of the first absolute value encoder (207) and the second absolute value encoder (208), a counter for calculating the number of residual bombs of the firepower unit (201), and a temperature sensor, a humidity sensor, a wind speed sensor and a barometric sensor for measuring the environment where the weapon station (2) is located; the controller is connected with a fire control computer (204) through a CAN communication module, the counter, the temperature sensor, the humidity sensor, the wind speed sensor and the air pressure sensor feed back measurement data to the fire control computer (204) in real time, the first absolute value encoder (207) feeds back the rotation angle of the plane rotating mechanism (202) to the controller in real time, and the second absolute value encoder (208) feeds back the pitch angle of the pitch mechanism (203) to the controller; the anti-frogman weapon system is characterized by comprising the following steps:
the detection sonar (3) is arranged at the sea bottom or the shore or is hung under a naval vessel, is connected with the portable fire control box (1) through a communication cable and is connected with a power supply;
fixing the weapon station on the shore or a naval vessel, connecting the weapon station with the portable fire control box (1) through a communication cable, and connecting the weapon station with a power supply; ammunition loading is carried out on the fire unit (201);
after the portable fire control box (1) is powered on and started up, initializing the fire control computer, and displaying a human-computer interface on a display after initialization; the fire control computer is communicated with the controller, a first absolute value encoder (207) feeds back the shooting direction angle of the fire unit (201) to the controller in real time, and a second absolute value encoder (208) feeds back the shooting pitch angle of the fire unit (201) to the controller in real time; the counter uploads the information of the number of the residual bullets, the ambient temperature, the humidity, the wind speed and the atmospheric pressure to a fire control computer (204) in real time;
after the system is checked and set and ammunition is normally filled, starting up a detection sonar (3) to work, and enabling the system to enter an on-duty state;
the detection sonar (3) carries out real-time monitoring, target identification and tracking on a monitored area, and after the target is found to invade a defense area, the detection sonar (3) sends alarm information;
after the sonar (3) is detected to find the target, the monitoring area is continuously monitored, and meanwhile, the found target is tracked and alarmed; the detection sonar (3) sends the detected target data to the fire control computer (204) through a communication cable;
the fire control computer (204) receives the target information sent by the detection sonar (3), transforms and smoothes the target information, and displays the processed target information on a display (218) of the fire control computer in real time; according to the target information, carrying out target threat analysis, and enabling the system to enter a combat working mode;
the operational working modes are divided into an autonomous operational mode and a remote control operational mode,
autonomous combat mode: the fire control computer (204) automatically locks the target with the maximum threat degree according to the threat analysis of the target, runs a firing data calculation program to inquire a firing table according to the target locking information, and obtains the firing direction angle, the pitching angle and the number of the launched bombs of the fire unit (201); the fire control computer (204) transmits a shooting direction angle, a pitching angle and a shot number instruction of the fire unit (201) to the controller through the CAN communication module; the controller controls the plane rotating mechanism (202) to rotate according to the direction angle of the instruction, and the controller controls the pitching mechanism (203) to rotate according to the angle of the instruction; after the fire control computer (204) detects that the firing direction angle and the pitching angle of the fire unit (201) are adjusted in place, the fire control computer (204) transmits a firing instruction of the fire unit (201) to the controller through the CAN communication module, and the controller controls the fire unit (201) to fire according to the firing instruction; the controller feeds back the state parameters after the instruction execution to the fire control computer through the CAN bus in real time;
remote control operational mode: an operator starts a manual operation key on the portable fire control box (1) to enter a remote control operation mode; an operator makes a manual decision according to the prompt of the fire control computer (204), operates an operating handle (206) to lock a target appearing on a display (218), and manually selects a shooting scheme according to the prompt of the fire control computer (204); the fire control computer (204) runs a firing data calculation program to inquire the firing table according to the target locking information to obtain a firing direction angle, a pitching angle and the number of launched bombs of the fire unit (201); the fire control computer (204) transmits a shooting direction angle, a pitching angle and a shot number instruction of the fire unit (201) to the controller; the controller controls the plane rotating mechanism (202) to rotate according to the direction angle of the instruction, and the controller controls the pitching mechanism (203) to rotate according to the angle of the instruction; after detecting that the shooting direction angle and the pitching angle of the firepower unit (201) are adjusted in place, the fire control computer (204) sends out ready information, an operator presses a shooting control button, and the controller controls the firepower unit (201) to shoot according to a shooting instruction; the controller feeds back the state parameters after the instruction execution to the fire control computer through the CAN bus in real time;
when the system displays that the number of the residual ammunition is insufficient, ammunition filling is carried out on the fire unit (201) manually.
2. The control method of the anti-frogman weapon system of claim 1, wherein the target threat analysis comprises the fire control computer (204) analyzing the target data transmitted by the detection sonar (3) into a target list, the target list comprises coordinates, a course, a speed and a target type, and the fire control computer (204) calculates the judgment threat level according to the following target threat degree formula;
the threat degree formula is W (k 1) W1+ k 2W 2+ k 3W 3+ k 4) W4
W1, assigning W1 different values for the threat degree value of the target type according to 4 threat levels of an unmanned underwater vehicle, a frogman carrier and a closed frogman;
w2, dividing danger grades according to the size of a target bulwark angle for a course threat degree value, dividing 10 angle intervals at 0-90 degrees into 10 threat grades, and giving W2 different numerical values; the target bulwark angle is an included angle between a connecting line of the protected marine facility and the found underwater target and the course of the underwater target, when the target bulwark angle is more than or equal to 90 degrees, the target is gradually far away from the protected marine facility, and no attempt of attacking the protected marine facility is made; when the target bulwarks are less than 90 degrees, the target approaches the protected marine facility and attempts to attack the protected marine facility are made;
w3, wherein the threat degree value is a navigational speed threat degree value, the larger the target navigational speed is, the larger the threat is, 10 speed intervals are divided in the range of 2 to 20 sections of navigational speed, 10 threat levels are divided, and different values are given to W3;
w4, wherein the distance between the target and the threat degree value is W4 different values, the closer the target is to the self, the larger the threat is, 10 distance intervals are divided in the range of the target distance from 100m to 1000m, 10 threat levels are divided;
k1, K2, K3 and K4 are weighting coefficients of all factors, the more important the factors are, the larger the corresponding weighting coefficient is, the larger the value is given;
w is a target threat degree value, threat levels are divided according to the W value, and when the first set value is less than or equal to W, the threat level is high; when the second set value is less than or equal to W and less than the first set value, the threat level is medium; when the third set value is less than or equal to W and less than the second set value, the threat level is low; when W is less than a third set value, the threat level is zero; the first set value > the second set value > the third set value.
3. The control method of an anti-frogman weapon system according to claim 1, characterized in that the firing direction angle β of the firing unit (201) is calculated as follows:
the direction angle absolute value beta' of the locking target relative to the fire unit (201) on the horizontal plane is calculated according to the following formula:
β＇＝arctan(|GExyz(3)/GExyz(1)|),β＇∈(0,90°)
since the actual firing direction angle β has positive and negative values, and is greater than 90 °, the final firing direction angle is required to be based on GEThe xyz component is transformed to positive and negative, and the final actual firing direction angle β is transformed as follows:
1) if G isExyz (3) is not less than 0 and GExyz(1)>0, β is β';
2) if G isExyz (3) is not less than 0 and GExyz(1)<0, β is 180- β';
3) if G isExyz(3)>0, and GExyz (1) ═ 0, then β ═ 90 °;
4) if G isExyz (3) is not more than 0, and GExyz(1)>0, β is- β';
5) if G isExyz (3) is not more than 0, and GExyz(1)<0, β ═ 180 ° + β';
6) if G isExyz(3)<0, and GExyz (1) ═ 0, β ═ 90 °;
GExyz being the components of two directions on the horizontal plane under the geographic coordinates
GExyz(3)＝GE(ez2-ez1)
GExyz(1)＝GE(ex2-ex1)
GEIs a transformation matrix from a geocentric coordinate system to a geographic coordinate system
Coordinate values of the ex1 and ez1 fire unit (201) on the horizontal plane under the geocentric coordinate system
Coordinate values of the targets locked by ex2 and ez2 on the horizontal plane under the geocentric coordinate system
The shooting pitch angle of the firepower unit (201) is calculated by adopting a ballistic differential equation set method according to the distance between the firepower unit (201) and a locking target, the shot launching speed of the firepower unit (201), and the environmental temperature, humidity, wind speed and air pressure parameters obtained by a temperature sensor, a humidity sensor, a wind speed sensor and an air pressure sensor, and then a 7-order polynomial of the firing table is fitted by adopting a least square method:
θ＝k0+k1*x-1+k2*x2+k3*x-3+k4*x-4+k5*x-5+k6*x-6+k7*x-7
in the formula: x: distance unit m of fire unit (201) from locking target
θ: shooting pitch angle unit °
k0, k1, k2, k3, k4, k5, k6, and k7 are constants.
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