KR101262243B1 - Engagement planning method for launching intercepting missile in anti-air guided weapon system and decision support system including of the same - Google Patents

Abstract

PURPOSE: A method for producing an engagement plan of anti-aircraft weapons guidance system, and a system for the support engagement plan determination of the anti-aircraft weapons guidance system including the same are provided to calculate expected interception time, in which an interceptor intercepts a target in real time. CONSTITUTION: A method for producing an engagement plan of anti-aircraft weapons guidance system comprises: a step of estimating the speed of a target approaching by filtering information about a sensed target(S110); a step of calculating time passing through an interception area of the target and the interception area(S120); a step of determining whether to satisfy the engagement effective height of an interceptor with the target if a point passing the interception area of the target is produced(S130); a step of producing an expected interception point which the interceptor intercepts the target(S160); and a step of calculating expected interception time by considering altitude and temperature of a launcher(S170). [Reference numerals] (S110) Estimate the speed of a target; (S120) Calculate a point where the target passes through an interception area; (S130) Engagement effective height satisfied?; (S140) Confirm the possibility of engagement in the vertical direction; (S150) Calculate an effective time; (S160) Calculate an interception point; (S170) Calculate an expected interception time

Description

Engagement planning method for launching intercepting missile in anti-air guided weapon system and decision support system including of the same}

The present invention relates to a method of generating an engagement plan of the anti-aircraft weapon system, and an engagement determination support system of the anti-aircraft weapon system equipped with the same. More specifically, the anticipated intercept point for the target is calculated, and the time required for engagement is calculated. The present invention relates to a method of generating an engagement plan for an anti-aircraft weapon system for generating an engagement plan including an interceptable interceptor and a launchable time of the interceptor, and an engagement decision support system for an anti-aircraft weapon system equipped therewith.

When a missile, an aircraft, or the like approaches from an enemy, an anti-aircraft weapon system for intercepting the missile operates.

For example, in order to intercept an approaching missile or aircraft (hereinafter referred to as a 'target'), a target is detected and a guided missile (hereinafter referred to as an 'interceptor') to shoot down the target is shot down.

In the anti-aircraft weapon system as described above, in order to intercept the target, the interceptor may calculate the expected intercept point in consideration of the movement path of the target, calculate the engagement time in real time, and the interceptor may intercept the target. When you have the best chance of interception, you should start engaging.

However, the method of determining whether the interceptor can intercept the target by calculating the expected intercept point in consideration of the movement of the target, calculating the time required for engagement, and determining the interceptor is not well known.

On the other hand, a large database for the interceptor area may be constructed in consideration of various conditions, and when the target appears, the target data may be input to the database, and the interceptor may be fired according to the result.

However, the method using the constructed database is not only time-consuming to create and search a database because the database is huge, but also has a problem in that intercept performance is sharply reduced for a target that is not considered when the database is created.

The following prior art document relates to a 'forward engagement missile defense system' and relates to a technique for defending an approaching missile using a plurality of laser weapons.

KR10-1999-013454A

The present invention has been invented to solve the above problems, the engagement of the anti-shared weapon system that can calculate the expected intercept point for the target quickly and accurately, and calculate the expected intercept time for the interceptor to intercept the target in real time. The purpose of the present invention is to provide a plan creation method and an engagement decision support system for the weapons system.

In the method of generating an engagement plan of the anti-aircraft weapon system according to the present invention for achieving the above object, it is expected that an interceptor to be launched from a launch pad to intercept the target is intercepted by the detected target. An expected interceptor point calculation step of calculating an expected interceptor point and an estimated interceptor time required for intercepting the target at the interceptor point; and an interceptor probability for the predicted interceptor, Intercept probability comparison step to compare, the interceptor designation step of designating the interceptor, if the interceptor probability is equal to or more than the set value, the engagement plan generation step of calculating the launchable time of the interceptor to intercept the target, and the expected An information delivery step of transmitting the intercepting point and the estimated intercepting time to the operation console device. The.

The predicted intercept point calculation step may include: a target speed estimating step of estimating a speed of an approaching target by filtering information on a detected target; and calculating a time passing through the interceptor passage point and the interceptor passage point of the target; When the intercept area passing point calculation step of the target, the interception area passing point of the target is calculated, the engaging altitude determination step of determining whether the target satisfies the effective effective engagement of the interceptor, and the highest altitude possible and the lowest altitude of the intercept target An altitude direction engagement possibility checking step of calculating a time for reaching; an effective time calculating step of selecting a minimum value of the intercepting zone passing time, the highest altitude reaching time, and the lowest altitude reaching time; and the target intercepting the target Intercept point calculation step to calculate the expected point of the intercept, It characterized in that it comprises a step of calculating the estimated intercept time to calculate the estimated intercept time to the point.

Here, in the target speed estimation step, it is preferable to estimate the speed of the target by applying the target gain according to the time interval.

Meanwhile, in the step of calculating the intercept point passing point, the target calculates the shortest point approach distance from the launch pad to the shortest point, and the target is a virtual half whose radius is the effective range of the interceptor from the launch pad. A boundary point distance calculating step of calculating a distance between a boundary point and a launch pad that is a point passing through a sphere, a boundary point passing time calculating step of calculating a time for the target to pass the boundary point, and a position at which the target passes the boundary point Characterized in that it comprises the step of calculating the boundary point passing position to calculate.

In addition, before the shortest point approach distance calculation step, a target position checking step of checking whether the target is located inside or outside the interceptor region is further included.

The distance from the current position of the target to the shortest point, which is the point where the target approaches the target and the launch pad, is calculated by the following equation.

Where R _T is the position vector of the launch pad and the target, V _T is the velocity vector of the target, and v _T is the magnitude of V _T in space.

 On the other hand, the distance from the current position of the target to the boundary point is obtained by the sum of the distances between the current position of the target and the shortest point and the distance between the shortest point and the boundary point.

When the target is located inside the interception area, the distance from the current position of the target to the boundary point P at which the target enters the interception area is calculated by the following equation.

(Where r _a is the distance from the current position of the target to the launch pad as close as possible, r _d is the distance from the launch pad to the boundary point, and r _T is the distance from the launch pad to the target)

Then, the distance (r _p1) and the intercept area from the current position of the target to the boundary pixels P ₁ to the target entry in intercept area from the current position of the target by, the following equation if located outside of the interception area, The distance r _p2 to the boundary point P ₂ advancing from is calculated.

(Where r _a is the distance from the current position of the target to the launch pad as close as possible, r _d is the distance from the launch pad to the boundary point, and r _T is the distance from the launch pad to the target)

In the boundary point passing time calculating step, the boundary point passing time is calculated by dividing the distance between the target and the boundary point by the speed of the target.

In the threshold point passing position calculation step, the threshold point passing position is calculated by summing the current position of the target by the product of the threshold point passing time and the speed of the target.

In the engagement altitude determination step, when the boundary point is between the minimum engagement altitude and the highest engagement rate, the engagement altitude is determined to be satisfied.

The altitude direction engagement possibility checking step includes calculating a maximum altitude arrival time that divides the highest altitude of engagement and the altitude difference of the target by the velocity of the vertical component of the target, and divides the minimum altitude of engagement and the altitude difference of the target by the velocity of the vertical component of the target. The minimum altitude arrival time calculation step is included.

After the highest altitude arrival time calculation step, the highest altitude arrival time validity check to confirm that the time to reach the highest altitude of engagement intercepts more than zero, and the engagement altitude reaching distance is less than the effective range of the interceptor; A step is performed and after the step of calculating the minimum altitude arrival time, the lowest to ensure that the time for the interceptor to reach the minimum altitude of engagement exceeds 0, and that the minimum altitude of engagement is less than the effective range of the interceptor; Characterized in that the altitude arrival time validation step is performed.

When the valid time is calculated in the valid time calculation step, the engagement area passing point of the target is obtained by adding the current target position and the distance traveled by the effective time at the speed of the target.

The intercept point calculation step, the step of determining the expected interceptor point calculation conditions for checking whether the time that the interceptor reaches the boundary point is larger than the time that the interceptor is ready to fly after the command to launch and reaches the interceptor point, and the current target It is characterized in that it comprises a precise calculation step of the predicted intercept point to estimate the trajectory of the target in consideration of the time increment at the position of.

In the predicted intercept point precision calculation step, the predicted intercept point is precisely calculated by the following equation.

,

, n은 시간증분 계수,

Where R ₀ is the initial position of the target,

,

, n is the time increment factor,

If the time at which the target reaches the expected intercept point is longer than the time at which the intercept body arrives, the predicted intercept point is finally determined to be valid.

In the step of calculating the expected intercept time, the time required when the interceptor flies in the optimum trajectory to the intercept point located in the intercept area in consideration of the current temperature and the position of the launch pad is calculated.

The time required for the flight of the interceptor from the launch pad to the intercept point is calculated from the following equation.

, R_z는 요격지점의 고도)(Where R is the intercept point, H _L is the height of the launch pad, Te is the temperature, c is the modeling constant,

, R _z is the altitude of the intercept point)

In the interception probability comparison step, the interception probability is obtained from a database previously built according to the detected position, type, and speed of the target.

Engagement determination support system of the anti-shared weapon system according to an aspect of the present invention, the operating console unit used to control the interceptor by communicating with the interceptor for intercepting the target when the intercept for the detected target is determined; And an engagement control unit for identifying the target, estimating an expected passage point of the identified target, and generating an engagement plan by calculating an expected intercept point and an estimated intercept time.

The engagement control unit may be configured to intercept the target at a target identification processor for identifying the target, an expected interceptor and an interceptor that are expected to intercept the target by the interceptor to be launched from the launch pad to intercept the target. Calculates the estimated intercept duration, which is the time required for the intercept, to compare the intercept probability for the anticipated intercept point with a set reference value, which is the launching criterion of the interceptor. Engagement is determined according to an engagement plan generated by the engagement plan generated by the engagement plan generation unit by transmitting a point and the expected intercept time to the operation console device to calculate the launchable time of the interceptor; When the interceptor is fired, the whole body that communicates with the interceptor to control the fired interceptor Characterized by including parts of Li.

According to the engagement planning support method of the anti-shared weapon system according to the present invention having the configuration as described above, and the engagement determination support system of the anti-shared weapon system equipped with the same, calculating the expected intercept point and the estimated intercept time of the detected target in real time As a result, it is possible to quickly support engagement decisions in the operation of a large shared weapon system.

As described above, the engagement decision can be made quickly, so that the corresponding weapon system can be effectively allocated.

It can also be used for the development of similar weapon systems or weapon system interworking systems in the future.

1 is a block diagram showing an engagement determination support system of a large common weapon system according to the present invention.
Figure 2 is a flow chart illustrating a method of generating a plan of engagement of a large common weapon system according to the present invention.
3 is a flowchart illustrating a process of calculating an expected intercept point in FIG. 2.
FIG. 4 is a flowchart illustrating a process of calculating an intercept point passing point of a target in FIG. 3.
FIG. 5 is a flowchart illustrating a process of confirming altitude direction engagement possibility in FIG. 3.
FIG. 6 is a flowchart illustrating a process of calculating an intercept point in FIG. 3.
7 is a conceptual diagram for calculating the intercept point of the target when the target is located inside the interceptor area in the method of engagement planning of the large common weapon system according to the present invention.
8 is a conceptual diagram for calculating the intercept point of the target, when the target is located outside the interceptor area in the method of engagement planning of the large common weapon system according to the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail the method of generating a plan of engagement of the anti-shared weapon system and the engagement determination support system of the anti-shared weapon system equipped with the same.

In the method of generating an engagement plan of the anti-aircraft weapon system according to the present invention, as illustrated in FIG. 2, the interceptor to be launched from the launch pad to intercept the detected target T and the detected target may intercept the target. Expected interceptor point calculation step (S100) for calculating the expected interceptor point and the expected interceptor time required to intercept the target at the interceptor point (S100), and the interceptor probability for the predicted interceptor Interceptor probability comparison step (S200) comparing with the set reference value that is the launching standard, if the interceptor probability is more than the set value, interceptor designation step (S300) for designating the interceptor and the interceptor to intercept the target (T), Battle plan generation step (S400) for calculating the launchable time of the, and the information transfer to deliver the expected intercept point and the expected intercept time to the operation console device And a system (S500).

On the other hand, looking at the system for performing the engagement plan generation method of the large common weapon system according to the present invention, as shown in Figure 1, includes an operation console unit 10 and engagement control unit 20.

The operating console unit 10 is a console used to command, or display or control the state of the interceptor when the interceptor for the target is determined, the operating console unit 10 actual launching platform (LAU) It is configured to include (console).

The engagement control unit 20 identifies a target, generates an engagement plan for the target, and manages the engagement after the engagement is initiated. To this end, the engagement control unit 20 again includes a target identification processing unit 21, an engagement plan generation unit 22, and the engagement control unit 23.

The target identification processor 21 identifies a type, a position, a speed, and the like with respect to a target detected through a radar.

The engagement plan generation unit 22 is equipped with a method of generating a plan of engagement of a large shared weapon system according to the present invention to be described later to generate a plan of engagement.

In addition, the engaging member management unit 23 serves to control the flight of the interceptor, such as the modification of the intercept point, the modification of the orbit, while communicating with the fired interceptor after the engagement is initiated.

Accordingly, the method of generating an engagement plan of the anti-shared weapon system according to the present invention is mounted on the engagement support system of the anti-shared weapon system to assist in determining whether to engage in a detected target.

Expected intercept point calculation step (S100) takes the expected intercept point and the expected intercept that the interceptor to be launched from the launcher to intercept the target (T) to intercept the detected target (T) and the detected target takes As calculating the time and the like, a detailed description of the expected intercept point calculation step (S100) will be described later.

In the intercept probability comparison step (S200), the intercept probability for the predicted intercept point is compared with a set reference value which is a launch criterion of the interceptor. According to the conditions of the target position, type, speed, etc., the interception probability is previously built in a database. The interception probability of the target T is obtained by inputting the detected position, type, speed, etc. into the database.

If the intercept probability of the target obtained in the intercept probability comparison step (S200) is greater than or equal to a set value, a subsequent process for generating an engagement plan is performed. That is, if the probability of intercept is greater than or equal to the set value, the projectile to intercept the detected target, that is, the interceptor is designated, and the interceptor enters the preparation for firing (S300).

In the battle plan generation step (S400), in order to intercept the target (T), to calculate the launchable time for the interceptable interceptor and the corresponding interceptor to generate an engagement plan.

The information transmission step (S500) is a process of transmitting the information calculated by the preceding process in the engagement control unit 20, that is, the estimated estimated intercept point and the estimated intercept required time to the operation console unit 10.

Meanwhile, the expected intercept point calculation step S100 will be described in detail with reference to FIG. 3.

Expected intercept point calculation step (S100) is a step of calculating the expected intercept point is expected to meet the target to be detected from the target (T) and the launch pad.

In order to calculate the predicted intercept point in the predicted intercept point calculation step (S100), the predicted intercept point is calculated by using information such as the position and speed of the target, the preparation time for the interceptor launch, and the interceptor flight time to the intercept point.

In this case, it is assumed that the target is flying at the same speed, the preparation time of the interceptor firing is the time required for the engagement decision and the preparation time from the immediately after the engagement decision to the takeoff of the interceptor, and the flight time of the interceptor is the time required for the flight with the optimum trajectory. to be.

Here, the predicted intercept point calculation step (S100), the target speed estimation step (S110) for estimating the detected target speed, and the interceptor area passing point calculation step (S120) for calculating the point where the target passes through the interceptor area; And, the engagement altitude determination step of determining whether the target passes through the altitude capable of intercepting (S130), and the time to reach the highest altitude or engagement minimum altitude and the altitude direction engagement possibility checking step (S140) to determine the validity of the time. And, the effective time calculation step of calculating the intercept time (S150), interceptor point calculation step (S160) of calculating the point where the interceptor to intercept the target, and calculates the time required for the interceptor to fly to intercept the target Expected intercept time calculation step (S170).

In the target speed estimating step (S110), information on the detected target is filtered to estimate the speed of the approaching target.

Equation 1 below may be applied to filter target information acquired when the target is detected to estimate the velocity V _{T of} the target.

: 식-1

Equation-1

로서 표적이득이 되고, 상기 표적에 대한 사전정보가 없는 경우에는 상기 표적이득(α)은 '0'이 된다. 또한, 상기 표적이득을 구함에 있어서 Δt = t_k - t_k-1로서 표적에 대한 속도를 추정하는 시간간격이 되고, h는 표적의 고도, id는 표적의 종류가 된다. here,

As the target gain, the target gain (α) becomes '0' when there is no prior information on the target. Further, in obtaining the target gain, Δt = t _k -t _{k -1} is a time interval for estimating the speed with respect to the target, h is the altitude of the target, and id is the target type.

Therefore, in the target speed estimating step (S110), the speed of the target is estimated by applying the filter gain according to the time interval Δt.

The intercept area passing point calculation step (S120) calculates the point where the target passes through the intercept area of the interceptor. For example, as shown in FIGS. 7 and 8, the interceptor having a predetermined range has an imaginary hemisphere whose radius is the effective range of the interceptor as a radius from the launch pad LAU as the interceptor region. The point penetrating the hemispheres of FIGS. 7 and 8 becomes a passing point of the interceptor region, that is, a boundary point.

In the intercepting area passing point calculation step (S120), the interception area passing point is calculated according to the position of the target T, that is, whether the target T is located inside or outside the intercepting area of the interceptor. do.

At this time, the intercept area passing point calculation step (S120), as shown in Figure 4, the target position confirming step (S121) to determine whether the target is located inside and outside the intercept area, and the target is a launch pad A shortest point approach distance calculating step S122 for calculating a distance approaching the shortest point from the LAU, a boundary point distance calculating step S123 for calculating a distance between the boundary point and the launch pad LAU, and the target T A threshold point passing time calculating step (S124) of calculating a time for passing the boundary point) and a threshold point passing position calculating step (S125) of calculating a position at which the target T passes the boundary point.

Here, the step of calculating the intercept point passing point (S120) is the case where the target (T) exists within the effective range of the interceptor, that is, the interceptor (see FIG. 7) and when the target T exists outside the interceptor (see FIG. 8). It can be considered by dividing by.

First, a case where the detected target is located within the effective range of the interceptor, that is, the interceptor is as follows (see FIG. 7).

In the shortest point approaching distance calculating step (S122), using the following equation-2, the target is the shortest point (A, hereinafter, 'shortest point') that is the point where the target approaches the launch pad (LAU) according to the target's expected trajectory. The distance between the launch pad and the LAU.

: 식-2

Expression-2

로서, 공간상에서 표적의 속도벡터인 V_T의 크기가 되고, 상기 표적은 등속운동하는 것으로 가정한다.here,

It is assumed that V is the magnitude of V _T , which is the velocity vector of the target in space, and the target is assumed to be in constant motion.

The r _a is a scalar amount corresponding to the size of the vector, which is the distance between the launch pad LAU and the shortest point A. Hereinafter, the uppercase letter is defined as the size of the vector of the vector and the lowercase letter.

After internalizing the position vector of the target and the velocity vector of the target, it is divided by the size of the target velocity and the distance between the shortest point A and the launching platform LAU, which is the point where the target approaches the launching platform LAU, is obtained. . Meanwhile, in FIG. 7, the velocity vector of the target is shown as V _Ta , which means that the velocity vector V _T of the target is projected onto the vertical plane including the launch pad.

The boundary point distance calculating step S123 is a step of calculating the distance from the current position of the target to the boundary point P through which the target T passes, that is, the length of the position vector R _P toward the boundary point from the target. The boundary point P is a point at which the target passes on a virtual hemispherical surface having a radius of the interceptor from the launch pad LAU as a radius. The boundary point distance calculating step S123 may be obtained from Equation-3 below.

: 식-3

Expression-3

로서 발사대로부터 경계점까지의 위치벡터인 R_d의 공간에서 크기(길이)이며 동시에 요격체의 유효사거리가 되고,

로서 표적의 위치벡터인 R_T의 공간에서의 크기가 된다.here,

It is the size (length) in the space of the position vector R _d from the launch pad to the boundary point, and becomes the effective range of the interceptor.

This is the size in space of the target position vector R _T.

)의 합으로 구할 수 있다.The distance r _p from the current position of the target to the boundary point P is the distance r a between the current position of the target and the shortest point A, and the distance ( _a ) to the shortest point A and the boundary point P (

Can be obtained as

와

의 관계가 성립한다.Here, two triangles are used to find this. Triangle on the left side in FIG. 7 with the launch pad LAU, the shortest point A and the boundary point P, and right in FIG. 7 with the launch pad LAU, the shortest point A and the target T apex. Use the triangle of. Since the two triangles are all right triangles,

Wow

.

,

가 되므로, r_c ²을

에 대입하면,

이 되므로,

이 된다.Where

,

Since r _c ² is

Quot;

This becomes

.

Therefore, when the target is inside the interceptor region, the distance r _p from the current position of the target to the boundary point P becomes as in Equation-3 above.

In the threshold point transit time calculating step (S124), the target time is divided by the speed of the target to the boundary point, and the time t _p for passing the target point through the boundary point is obtained through Equation 4 below.

: 식-4

Expression-4

Further, in the boundary point passing position calculation step (S125), the position R _{p at the} time when the target passes the boundary point is calculated from Equation-5 below.

: 식-5

Expression-5

That is, the position when the target passes through the boundary point by the sum of the distance (t _p V _T ) to be moved during the time t _p calculated at the velocity V _T calculated from the current position of the target R _T. Can be calculated.

On the other hand, when the target is outside the interceptor region, two boundary points exist. That is, one boundary point P ₁ is a boundary point when the target enters the interior of the interception area, and the other boundary point P ₂ is a boundary point when the target advances outside the interception area.

Even when the target is outside the interception area, the shortest point approach distance calculation step S122, the boundary point distance calculation step S123, and the boundary point passing time calculation step S124 are performed as in the case where the target is inside the interception area. And, including the boundary point passing position calculation step (S125), and has a difference in the equation for calculating each.

The shortest point approach distance calculating step S122 may calculate the shortest point approach distance from Equation-6 as in the case where the target is inside the interceptor region.

: 식-6

Expression-6

In the boundary point distance calculating step S123, the distances r _p1 and r _p2 between the target T and the two boundary points P ₁ and P ₂ from the target T are obtained by Equation-7.

: 식-7

Expression-7

,

이 되는데, 상기 표적(T)으로부터 경계점 P₁와의 거리 r_p1은, 표적(T)으로부터 경계점 P₁까지의 위치벡터 R_p1의 크기에 해당하고, 표적(T)으로부터 경계점 P₂와의 거리 r_p2는, 표적(T)으로부터 경계점 P₂까지의 위치벡터 R_p2의 크기에 해당하며, 상기 표적(T)으로부터 최단지점 A까지의 거리 r_a는 표적(T)으로부터 최단지점 A까지의 위치벡터 R_a의 크기에 해당한다.here,

,

This there is, the distance between the boundary point P ₁ from said target (T) r _p1 is, the target (T) boundary point P corresponds to the location where the magnitude of the vector R _p1 to _1, and the distance from the boundary point P ₂ from the target (T) r _p2 from Is the magnitude of the position vector R _p2 from the target T to the boundary point P ₂ , and the distance r _a from the target T to the shortest point A is the position vector R from the target T to the shortest point A. corresponds to the size of _a

, 상기 표적의 현재위치로부터 상기 표적이 요격영역에서 진출하는 경계점 P₂까지의 거리

가 된다.Since the target is located outside the intercepting region, in Equation-7, the distance from the current position of the target to the boundary point P ₁ at which the target enters the intercepting region.

And a distance from the current position of the target to the boundary point P ₂ at which the target advances from the interceptor region.

.

, 내부의 삼각형으로부터

이 된다.

을 내부 삼각형에 관한 식에 대입하면,

이 되고,

이 되며,

가 되므로, 상기 표적의 현재위치로부터 상기 표적이 요격영역에 진입하는 경계점(P₁)까지의 접근거리(r_p1)는

가 된다.Here, the target feature points P distance r _p1 between ₁ from (T), the launcher (LAU), shortest point (A), the boundary points (P ₁₎ to, and triangles to a vertex launcher (LAU), shortest point (A) , A triangle having the vertex of the target T can be used. As both are right triangles, from an outside triangle

From the inner triangle

.

If you substitute in the expression for the inner triangle,

Lt; / RTI &

Will be

Therefore, the approach distance r _p1 from the current position of the target to the boundary point P _{1 at} which the target enters the intercept area is

.

,

가 되므로,

을 나중 식에 대입하면,

가 된다. 따라서,

가 되므로, 양변을 제곱근하여 정리하면, 상기 표적이 표적의 현재위치로부터 상기 표적이 요격영역을 진출하는 경계점(P₂)까지의 거리(r_p2)는

가 된다.Meanwhile, the distance r _p2 from the current position of the target to the boundary point P _{2 at} which the target enters the interceptor region is represented by the launch pad LAU, the shortest point A, and the boundary point P ₂ in FIG. 8. It is calculated | required from the triangle used as a vertex, and the triangle used as the vertex the launch pad LAU, the shortest point A, and the target T. In other words,

,

Becomes,

Is substituted into the later equation,

. therefore,

Therefore, if both sides are summed up by the square root, the distance r _p2 from the current position of the target to the boundary point P ₂ through which the target advances to the intercepting region is

.

Therefore, when the target T is outside the interceptor region, the approach distance of P ₁ and P ₂ , which are boundary points at which the target enters or exits the interceptor region, is represented by Equation-7.

In the boundary point passing time calculation step (S124), the time for which the target passes the boundary point is obtained. That is, as shown in Equation 8 below, the distance to the boundary points P ₁ and P ₂ obtained above is divided by the velocity v _T of the target.

,

: 식-8

,

Expression-8

In the boundary point passing position calculation step (S125), the boundary point passing position calculation step (S125) is the position of the current target (T), the speed (V _T ) of the current target ( _T ) and the target is the boundary point (P ₁ , P ₂ ) In consideration of the time (t _p1 , t _p2 ) it takes to move to, the step of calculating the passing point of the boundary point of the target (T).

In the boundary point passing position calculation step (S125), the boundary point passing position of the target T is calculated using Equation-9 below.

,

: 식-9

,

Expression-9

In the engagement altitude determination step (S130), it is determined whether the previously determined boundary point is the effective altitude of the interceptor.

It is determined whether the altitude R _pz of the boundary point is between the minimum effective altitude H _min and the maximum effective altitude H _max of the interceptor.

Therefore, the relationship between the altitude R _pz of the boundary point, the minimum effective altitude H _min and the maximum effective altitude H _max of the interceptor is shown in Equation-10 below.

: 식-10

Expression-10

Altitude direction engagement possibility checking step (S140) calculates the time to reach the highest altitude possible and the lowest altitude of the target, and confirms the validity of the time.

To this end, the altitude direction engagement possibility checking step (S140), the highest altitude arrival time calculation step (S141) for calculating the time to reach the highest altitude that the interceptor can intercept the target, and reaches the highest altitude Highest altitude arrival time validation step (S142) for checking whether the time (t _h2 ) is suitable, and the lowest altitude arrival time calculation step (S143) for calculating the time for the interceptor to reach the minimum altitude of engagement that can intercept the target (S143) And a minimum altitude arrival time validation step (S144) of checking whether the minimum altitude arrival time t _h0 is appropriate.

The highest altitude arrival time t _h2 calculated by the highest altitude arrival time calculation step S141 is calculated from the following equation-11.

: 식-11

Expression 11

That is, the highest altitude arrival time t _h2 is obtained by dividing the difference between the highest altitude H _max capable of intercepting the target altitude R _{Tz by} the vertical component V _Tz of the target velocity.

As described above, when the highest altitude arrival time t _h2 is calculated, the validity of the highest altitude arrival time is confirmed (S142). That is, in order for the highest altitude arrival time to be valid, the highest altitude arrival time t _h2 must exceed '0', and the distance R _T (the distance at which the target T flies during the highest altitude arrival time t _h2 ). t _h2 )) must be less than the maximum effective range R _B of the interceptor.

That is, both of the following conditions must be satisfied.

,

,

In addition, the minimum altitude arrival time t _h0 is calculated by dividing the difference between the minimum altitude H _{min that} can be intercepted and the altitude R _Tz of the target by the vertical component V _Tz of the target velocity, as shown in Equation-12 below. (S143).

: 식-12

Expression-12

The minimum altitude arrival time t _h0 thus obtained can be checked for validity under the following conditions (S144).

,

,

That is, the minimum height arrival time (t _h0) of course needs to have a positive value, wherein the target (T) the flight distance for the lowest altitude arrival time _{(t h0) (R T (} t h0)) is of the yogyeokche It must be less than the maximum effective range (R _B ).

가 된다.The valid time calculation step S150 selects the minimum time as the valid time t _B from the boundary point passing time t _p , the highest altitude arrival time t _h2 , and the lowest altitude arrival time t _h0 . . In other words,

.

That is, the minimum time is selected from the boundary point passing time t _p , the highest altitude arrival time t _h2 , and the lowest altitude arrival time t _h0 , and this is selected as the interception time.

At this time, the engagement area passing point (R _c ) is as follows.

That is, at the current position (R _T ) of the current target, the engagement area passing point (R _c ) is obtained by adding the distance (t _B V _T ) that the target has advanced by the effective time (t _B ) at the speed V _T.

The intercept point calculation step (S160) is a process of calculating a point at which the interceptor is expected to intercept the target, and includes an expected intercept point calculation condition checking step (S161) and an accurate intercept point prediction step (S162). .

In the step of checking the expected intercept point calculation condition (S161) by comparing the time (t _B + t _r + t _d ) that the interceptor takes to fly to the intercept point with the time f _m when the interceptor reaches the boundary point, It is checked whether the time f _{m at} which the interceptor reaches the boundary point is greater than the time t _B + t _r + t _d required for the interceptor to fly to the intercept point.

Formulated as shown in Equation 13 below.

: 식-13

Expression -13

은 요격체가 경계점까지 고도 H_L인 발사대로에서 온도 Te일 때 발사되어 경계점에 도달하는 비행시간이고, t_B는 요격체가 경계점(P)까지 도달하는 시간이며, t_r은 요격체가 이륙하는데까지 준비에 소요되는 시간이며, t_d는 요격체에 이륙명령을 하는데 소요되는 통신지연시간이다.here,

Is the flight time at which the interceptor is launched at the temperature Te on the launching platform at altitude H _L to the boundary point, t _B is the time the interceptor reaches the boundary point (P), and t _r is ready for the interceptor to take off T _d is the communication delay time for taking off command to the interceptor.

In the step S161 of checking the expected intercept point calculation condition, the interceptor is fired after the preparation for the flight within the time when the interceptor reaches the boundary point to determine whether the intercept point can be reached.

In the predicted intercept point precision calculation step (S162), the trajectory of the target is estimated over time.

In the expected intercept point precision calculation step (S162), the trajectory of the time increment at the current position of the target T is estimated by the following equation-14.

: 식-14

Expression-14

,

로서, 시간 증분이 되고, n은 정밀 산출을 위한 증분계수로서 적절한 정수값을 갖는다.Where R ₀ is the initial position of the target,

,

As a time increment, n has an appropriate integer value as an incremental coefficient for precision calculation.

In addition, t _fo is a compensation value according to the target position, and 0 or t _B is a value. That is, if the initial position of the target exists inside the interceptor region, t _fo becomes 0, and if the initial position of the target exists outside the interceptor region, t _fo becomes t _B.

If the time at which the target reaches the position of the expected intercept point is longer than the time at which the interceptor arrives, the predicted intercept point is finally determined to be valid. If the interceptor reaches longer than the time the target reaches the set anticipated intercept point, the target is located at the predicted intercept point because the target has already passed the anticipated intercept point even if the interceptor is fired as soon as possible. If the arrival time is longer than the arrival time of the interceptor, the predicted interception point is finally determined to be valid.

If this is expressed as an expression, Equation -15 is shown.

: 식-15

Expression-15

는 표적의 예상 요격지점 도달시간, t_B+t_r+t_d는 요격체의 예상 요격지점 도달시간이다.only,

Is the expected intercept point arrival time of the target, and t _B + t _r + t _d is the estimated intercept point arrival time of the interceptor.

The interceptor expected interception time calculation step (S170) is obtained from the following equation-16.

: 식-16

Expression-16

는 현재 발사대(LAU)의 고도(H_L)에서 온도(Te)일 때, 요격지점인 공간상의 R지점까지 요격체의 비용에 소요되는 시간이다. 즉, 상기 식-16은 사전에 산출된 값을 이용하여 발사대 위치와 온도의 함수로 모델링한 함수이다.In the intercept body expected intercept time calculation step (S170)

Is the time taken for the cost of the interceptor from the altitude (H _L ) of the launch pad (LAU) to the temperature (Te), to the point R in space, the intercept point. That is, Equation-16 is a function modeled as a function of launch pad position and temperature using a value calculated in advance.

로서, 표적에 대한 공간상의 위치벡터에 대한 지면 투영시의 거리이다.
C is a constant for modeling,

This is the distance at the time of ground projection of the position vector in space with respect to the target.

S100: Calculation of expected intercept point S200: Comparing probability of intercept
S300: Interceptor designation step S400: Engagement plan generation step
S500: information transmission step S110: target speed estimation step
S120: Calculation step of intercept point passing S130: Determination of the altitude of engagement
S140: Altitude Direction Check Possibility
S150: effective time calculation step S160: expected intercept point calculation step
S170: expected intercept time calculation step S121: target position confirmation step
S122: calculating the shortest point approach distance
S123: boundary point distance calculation step S124: boundary point pass time calculation step
S125: Calculation step of the position passing through the boundary point S141: Calculation step of reaching the highest altitude
S142: highest altitude arrival time validation step
S143: calculating the minimum altitude arrival time
S144: minimum altitude arrival time validation step
S160: intercept point calculation step
S161: Checking the condition of calculating the expected intercept point
S162: Predictive intercept point precision calculation stage
10: operation console unit 20: engagement control unit
21: target identification processor 22: engagement plan generator
23: Church member management department

Claims (23)

Expected intercept duration, which is the time required to intercept the target at the intercept point and the expected intercept point that is expected to be able to intercept the target by the interceptor to be launched from the launcher to intercept the detected target and the detected target. Calculating the expected intercept point calculation step;
An intercept probability comparing step of comparing an intercept probability for the predicted intercept point with a set reference value which is a launch criterion of the interceptor;
An interceptor designation step of designating an interceptor if the probability of the intercept is greater than or equal to a set value;
An engagement plan generation step of calculating a launchable time of the interceptor to intercept the target;
And an information transmission step of transmitting the expected intercept point and the estimated intercept time required to an operation console device.
The expected intercept point calculation step,
A target speed estimating step of estimating a speed of an approaching target by filtering information about a detected target;
An interception area passing point calculating step of calculating a time passing between the interception area passing point and the interception area passing point of the target;
An engagement altitude determining step of determining whether the target satisfies the engagement effective altitude of the interceptor when the intercept point passing point of the target is calculated;
An altitude encounter possibility checking step that calculates the time to reach the target's highest possible intercept and altitude;
An effective time calculating step of selecting a minimum value of the intercept area passing time, the highest altitude arrival time, and the lowest altitude arrival time;
An intercept point calculation step of calculating a point at which the interceptor is expected to intercept the target;
And an anticipated intercept time calculation step of calculating an estimated intercept time to an intercept point in consideration of the altitude and temperature of the launch pad.
delete The method of claim 1,
The target speed estimating step, the method of generating an engagement plan of the anti-shared weapon system, characterized in that for estimating the speed of the target by applying the target gain according to the time interval.
The method of claim 1,
In the intercept point passing point calculation step,
A shortest point approach distance calculating step of calculating the approach distance of the target from the launch pad to the shortest point,
A boundary point distance calculating step of calculating a distance between the target point and the launch pad that is a point at which the target passes a virtual hemispherical shape having a radius of the effective range of the interceptor from the launch pad;
A threshold point passing time calculating step of calculating a time for the target to pass through the boundary point;
And a boundary point passing position calculating step of calculating a position at which the target passes the boundary point.
5. The method of claim 4,
Before the shortest point approach distance calculation step, the target location check step of determining whether the target is located inside or outside the interceptor area further comprises a plan of engagement of the weapons system.
The method of claim 5,
And a distance from the current position of the target to the shortest point at which the target is closest to the target and the launch pad is calculated by the following equation.

Where R _T is the position vector of the launch pad and the target, V _T is the velocity vector of the target, and v _T is the magnitude of V _T in space.
The method according to claim 6,
And a distance from the current position of the target to the boundary point is obtained by the sum of the distance between the current position of the target and the shortest point and the distance between the shortest point and the boundary point.
The method of claim 7, wherein
When the target is located inside the interceptor area, the distance from the current position of the target to the boundary point P from which the target enters the interceptor area is calculated by the following equation. How to create an engagement plan.

(Where r _a is the distance from the current position of the target to the launch pad as close as possible, r _d is the distance from the launch pad to the boundary point, and r _T is the distance from the launch pad to the target)
The method of claim 7, wherein
The target is advanced from a distance (r _p1) and the intercept area from the current position of the target of the feature points to P ₁ that enters the interception area from the current position of the target by, the following equation if located outside of the interception area, A method of generating an engagement plan for a large shared weapon system, characterized by calculating a distance r _p2 to the boundary point P ₂ .

(Where r _a is the distance from the current position of the target to the launch pad as close as possible, r _d is the distance from the launch pad to the boundary point, and r _T is the distance from the launch pad to the target)
The method of claim 7, wherein
In the boundary point pass time calculation step,
The method of generating an engagement plan for a large shared weapon system according to claim 1, wherein the distance between the target and the boundary point is divided by the speed of the target to calculate the passage time of the boundary point.
5. The method of claim 4,
In the boundary point passing position calculation step,
And generating a boundary point passing position by adding the current position of the target to the product of the boundary point passing time and the speed of the target to calculate the boundary point passing position.
The method of claim 1,
In the engagement altitude determination step,
Characterized in that the engagement altitude is determined between the minimum altitude and the highest altitude of engagement, the point where the target passes through the virtual hemispheric radius of the effective range of the interceptor from the launch pad, and satisfies the engagement altitude. How to create an engagement plan for a large common weapon system.
The method of claim 1,
The altitude engagement possibility checking step,
Calculating the highest altitude arrival time dividing the highest altitude of engagement and the altitude difference of the target by the velocity of the vertical component of the target;
And a minimum altitude arrival time calculation step of dividing the minimum altitude of engagement and the altitude difference of the target by the speed of the vertical component of the target.
The method of claim 13,
After the highest altitude arrival time calculation step, the highest altitude arrival time validity check to confirm that the time to reach the highest altitude of engagement intercepts more than zero, and the engagement altitude reaching distance is less than the effective range of the interceptor; Steps are performed,
After the minimum altitude arrival time calculation step, the minimum altitude arrival time validity checking to confirm that the time to reach the minimum altitude of engagement intercepted more than zero, and the engagement minimum altitude reach is less than the effective range of the interceptor Method of generating a plan of engagement of a large shared weapon system, characterized in that the steps are performed.
The method of claim 1,
When the valid time is calculated in the valid time calculation step,
The method of generating a warfare plan of the anti-aircraft weapon system according to claim 1, wherein the point of engagement of the target is obtained by adding the distance of the current target and the distance traveled by the effective time at the speed of the target.
The method of claim 1,
The intercept point calculation step,
A step for checking an expected interceptor point calculation condition for checking whether the time for the interceptor to reach the boundary point is greater than the time for the interceptor to finish the flight preparation after the launch command and reach the interceptor point;
And a method of accurately calculating an expected intercept point for estimating the trajectory of the target in consideration of a time increment at the current target position.
17. The method of claim 16,
In the precision calculation step of the expected intercept point, the engagement plan generation method of the anti-shared weapon system, characterized in that the expected intercept point is precisely calculated by the following equation.

Where R ₀ is the initial position of the target,

,

, n is the time increment factor,

)
18. The method of claim 17,
And if the time at which the target reaches the predicted intercept point is longer than the time at which the interceptor arrives, finally determining the predicted intercept point as valid.
The method of claim 1,
In the step of calculating the expected intercept time, the engagement of the anti-shared weapon system according to the current temperature and the position of the launch pad to calculate the time required when the interceptor fly to the optimal trajectory to the intercept point located in the intercept area. How to create a plan.
20. The method of claim 19,
The time required for the flight of the interceptor from the launch pad to the intercept point is calculated according to the following equation.

(Where R is the intercept point, H _L is the height of the launch pad, Te is the temperature, c is the modeling constant,

, R _z is the altitude of the intercept point)
The method of claim 1,
In the interception probability comparison step, the engagement plan generation method of the anti-shared weapon system, characterized in that to obtain the interception probability from a database previously established according to the detected position, type, and speed of the target.
An operating console unit used to control the interceptor by communicating with the interceptor for intercepting the target when the intercept for the detected target is determined;
In the engagement determination support system of the anti-shared weapon system, including an engagement control unit for identifying the target, estimating an expected passage point of the identified target, and calculating an engagement intercept point and an expected interception time to generate an engagement plan,
The engagement control unit,
A target identification processor for identifying the target;
Calculating an expected intercept duration, which is an expected intercept point that is expected to be able to intercept the target by the interceptor to be launched from the launcher to intercept the target, and an estimated intercept duration that is the time required to intercept the target at the intercept point; The intercept probability for the point is compared with the set reference value that is the launching criterion of the interceptor, and if the interception probability is equal to or greater than the set value, the interceptor is designated, and the predicted interceptor point and the estimated interceptor time are transmitted to the operation console device. An engagement plan generation unit that calculates a launch time and generates an engagement plan;
When the engagement is determined according to the engagement plan generated by the engagement plan generation unit and the interceptor is fired, the engagement unit management unit for controlling the interceptor fired in communication with the interceptor,
The engagement plan generation unit filters the information on the detected target, estimates the speed of the approaching target, calculates a time passing through the intercepting point passing point of the target and the intercepting area passing point, and intercepting area of the target. When the passing point is calculated, it is determined whether the target satisfies the engagement effective altitude of the interceptor, the time for reaching the highest altitude and the lowest altitude capable of intercepting the target is calculated, and the intercepting zone passing time and the highest altitude reaching time Select a minimum value of the minimum altitude arrival time, calculate a point where the target is expected to intercept the target, calculate an expected intercept time to the intercept point in consideration of the altitude and temperature of the launch pad Engagement decision support system of a large common weapon system, characterized in that calculating.
delete

Images