RU2253820C2 - Mobile antiaircraft guided missile system - Google Patents

Abstract

FIELD: military equipment, in particular, mobile antiaircraft guided missile systems, applicable for organization of air defense of troops and military objects against destruction by the aids of enemy air attack.

SUBSTANCE: the mobile antiaircraft guided missile system for detection and destruction of aerodynamic, ballistic and winged missiles in a composition of series-connected target detection stations, fighting control point containing a data receiving-transmitting equipment, whose second output is connected to the digital computer system of the fighting control point, illumination and guidance radar set, launcher containing a series-connected data receiving-transmitting equipment, digital computer system of the launcher, rotatable launcher, antiaircraft guided missiles with a semiactive or active guidance methods. The third input of the digital computer system of the launcher is connected to the output of the navigation, topographical survey and orientation system. Used in addition is an air carrier with an illumination and guidance radar, having a series-connected multifunctional radar, digital computer system and an air carrier data receiving and transmitting equipment, the output of the air carrier data receiving and transmitting equipment is connected to the input of the fighting control point data receiving and transmitting equipment. The second input of the air carrier digital computer system is connected to the output of the navigation processor, whose first input is connected to the output of the receiver of processing of radionavigational signals, and the second input is connected to the output of the inertial system, the fighting control point uses also a series-connected receiver of processing of radio-navigational signals and a navigation processor of the fighting control point, whose output is connected to the second input of the digital computer system of the fighting control point.

EFFECT: enlarged distant boundary of detection of low-altitude targets.

7 dwg, 1 tbl

Description

The proposed technical solution relates to the field of defense technology, in particular to mobile anti-aircraft missile systems (SAM), and can be used to organize air defense of troops and military targets from defeat by enemy air attack.

In the structure of modern air defense, air defense systems are the main means for organizing the guidance and launch of anti-aircraft guided missiles (SAM) at the enemy’s air attack means (AED).

Famous air defense systems, for example, the American “Hawk”, “Patriot”, “Advanced Hawk” [see F.K. Neupokoev. “Shooting anti-aircraft missiles.” Military ed. M.O. USSR, M., 1980, p. 52; N. A. Vasilin, A. A. Gurinovich “Anti-aircraft missile systems”, Mn., LLC “Popuri”; AS Malgin “Fire control of anti-aircraft missile systems”. Military ed. M.O., M., 1987, p.21], domestic air defense systems “Cube”, “Square”, “Buk”, [see “Arms of Russia 2000”, M., Izdat. House “Military Parade”, 2000, p. 589, 593], containing a radar target detection (SOC), a combat control point (PBU) or command post (KP), firing sections, consisting of a unit with a radar illumination and guidance (URPN ) and launcher (PU). In this case, the number of firing sections in the composition of the SAM can be different.

The above analogues have the disadvantage that the detection range of low-flying targets (NLCs) is limited by the actual value of the radio horizon, which, in turn, is functionally dependent on the absolute current values of the height of the detected target and the height of the radar transceiver antenna [see M.I. Finkelstein. Basics of radar. M., “Sov. Radio ”, 1973, p. 286].

The closest in technical essence and the achieved result is SAM “BUK-M1-2” [see "Anti-aircraft missile systems of the air defense of the ground forces." Equipment and weapons yesterday, today, tomorrow. No. 5-6, 1999, p. 41].

The anti-aircraft missile system contains a radar for detecting targets, a command post, a self-propelled firing unit with a radar for illumination and guidance and a launcher with a set of anti-aircraft guided missiles, while the number of self-propelled installations is determined by additional requirements for the composition of the complex.

It is known that the far boundary of the detection zone of low-flying targets by the radar station of the specified complex will be limited by the range of direct visibility, which is equal to:

where R _s - 6370 km is the radius of the Earth;

H _u - height of the target above the Earth surface in kilometers;

N _And - the height of the transceiver antenna of the radar in km.

So at H _A ≈ 3 m and H _c ≈ 30 m for D _about - we get a value of the order of 25-26 km.

The indicated value of the long-range target detection for a number of cases of successful reflection of the UHF raid is insufficient and is determined mainly by the potential characteristics of the transceiver of the radar system.

The technical result of the proposed solution is the creation of a mobile anti-aircraft missile system in which the long-range detection of low-flying targets exceeds the line of sight by 3-4 times.

The technical result is achieved by the fact that in a mobile anti-aircraft missile system for detecting and destroying aerodynamic, ballistic targets and cruise missiles as part of a series-connected radar for detection and target designation, a combat control station containing data reception and transmission equipment, the second output of which is connected to a digital computer the system of a combat control station, a radar installation for illumination and guidance, a launcher containing series-connected ap data receiving and transmitting structure, digital launcher computing system, rotary launcher, K anti-aircraft guided missiles with semi-active or active guidance methods, while the third input of the launcher digital computing system is connected to the output of the navigation, topographic and orientation system, as well as air carrier (for example, a helicopter, a flying platform, etc.) with a backlight and guidance radar containing a multifunctional radar station connected in series, digital a computer system and equipment for receiving and transmitting air carrier data, while the output of the equipment for receiving and transmitting data from the air carrier is connected to the input of the equipment for receiving and transmitting data from the combat control point, and the second input of the digital computer system of the air carrier is connected to the output of the navigation processor, the first input which is connected to the output of the receiving device for processing radio navigation signals, and the second input is connected to the output of the inertial system, and to the point of combat control administered serially connected navigation receiver signal processing apparatus and the navigation processor command and control points, whose output is connected to a second input of a digital computing system command and control points.

The essence of the proposed technical solution will be clear from the following description and the attached graphic material.

Figure 1 shows a block diagram of a mobile anti-aircraft missile system, on which the following devices and systems are indicated by numbers:

1 - inertial system on an air carrier (IS VN);

2 - receiving device for processing radio navigation signals on an air carrier (PUORS VN);

3 - navigation processor on an air carrier (NP VN);

4 - multifunctional radar station (MFRS VN);

5 - digital computer system of an air carrier (CVS VN);

6 - equipment for the reception and transmission of air carrier data (ADF VN);

7 - equipment for the reception and transmission of data from the combat control center (APD PBU);

8 - installation with radar illumination and guidance (URPN);

9 - equipment for the reception and transmission of data launcher (APD PU);

10 - digital computer system of the combat control center (CVS PBU);

11 - digital computing system launcher (CVS PU);

12 - navigation system, topographic location and orientation launcher (SNTO PU);

13 - navigation processor point combat control (NP PBU);

14 - receiving device for processing radio navigation signals of the combat control point (PUORS PBU);

15 - rotary launcher (PPU);

16 - radar detection and target designation (SOC);

17 - anti-aircraft guided missile (SAM).

Figure 2, 3 and 4 shows, respectively, the earth coordinate axis X _g Y _g Z _{g of the} air carrier, the associated coordinate axis X ₁ Y ₁ Z _{1 of the} air carrier and the current angles ψ (yaw angle), γ (heel angle) and υ ( pitch angle) between the associated X ₁ Y ₁ Z ₁ and the ground X _g Y _g Z _g coordinate systems (SC).

Figure 5 shows the location of the anti-aircraft missile system on a Gauss-Krueger map in a rectangular coordinate system, while the earth coordinate axes X _g Y _g Z _g 3PK are parallel to the axes of the map coordinate system of the same name, i.e. X _to Y _to Z _k .

Figure 6 shows the position of the target in the associated SC VN.

7 shows the position of the target in the earth coordinate system used in 3PK to transmit the coordinates of the target to the PBU.

The mobile anti-aircraft missile system contains an inertial system 1, a receiver for processing radio navigation signals 2, a navigation processor 3, a multifunctional radar station 4, a digital computer system 5, and equipment for receiving and transmitting data 6 (devices 1-6 are included in the air carrier equipment); data receiving and transmitting equipment 7, digital computing system 10, navigation processor 13, radio navigation signal processing receiver 14 (devices 7, 10, 13 and 14 are part of the combat control center equipment), data receiving and transmitting equipment 9, digital computing system 11, a rotary launcher 15, a navigation, topographic and orientation system 12, anti-aircraft guided missiles 17 (devices 9, 11, 12, 15 and 17) are part of the launcher equipment); installation with radar illumination and guidance 8, a radar station for detection and target designation 16, while the installation with radar illumination and guidance 8 and a launcher (devices 9, 11, 12, 15 and 17) form a firing section in which the tasks of organizing target firing at target designation from the combat control point (devices 7, 10, 13 and 14) are solved autonomously using well-known algorithms.

Mobile anti-aircraft missile system operates as follows.

After the installation of ground combat equipment of the mobile anti-aircraft missile system at a given position and the launch of an air carrier at a predetermined flight path, the system coordinates each other with respect to the coordinates of the command and control point, and then the radar for detecting targets 16, which is part of the ground equipment of the complex, begins the process of detecting targets in the entire range of specified heights, and the radar illumination and guidance, located on an air carrier, carried out a search and detection advantageously low flying targets.

в лучевой системе координат радиолокатора, пересчитываются в абсолютные координаты с учетом постоянного изменения местоположения, а также углов рыскания, крена и тангажа воздушного носителя. Пересчитанные координаты НЛЦ с помощью аппаратуры приемо-передачи данных 6 и 7 передаются на пункт боевого управления, который в штатном режиме работы через выбранную конкретную установку с радиолокатором подсвета и наведения 8 передает эти координаты на пусковую установку.It is known that the exchange of information between air defense systems about the current position of the detected targets requires a common coordinate system. For this reason, the coordinates of a low-flying target, measured on air carrier, i.e. ε, β, D,

in the radar coordinate system of the radar, are converted into absolute coordinates, taking into account the constant change in location, as well as yaw, roll and pitch angles of the air carrier. The recalculated coordinates of the NLC using the data receiving and transmitting equipment 6 and 7 are transmitted to the combat control station, which in normal operation through the selected specific installation with a backlight and guidance 8 transmits these coordinates to the launcher.

In addition to the general coordinate reference, which is carried out using the standard means of the complex, using an inertial system 1, a receiver for processing radio navigation signals 2, and a navigation processor 3, continuous measurement of the current absolute coordinates of the air carrier by signals from radio navigation artificial earth satellites AES ₁ ... AES _N.

Moreover, the air carrier, as a rigid body, has six degrees of freedom and, accordingly, in the general case, its position relative to the Earth's coordinate system (or axes) will be determined by six coordinates, i.e. three coordinates X _BH Y _BH Z _BH with the origin at the zero point of the connected coordinate system and measured using the satellite, and three angles between the connected and the earth coordinate system, measured using the IP 1 [see A.A. Lebedev, L.S. Chernobrovkin. Flight dynamics of unmanned aerial vehicles. M., Oborongiz, 1962, p. 43].

The spatial position of the air carrier is determined in two stages:

- first, the current coordinates of the satellites and the primary navigation parameters (range, its derivatives) are determined relative to the corresponding navigation satellites;

- then secondary parameters are calculated, i.e. latitude, longitude, altitude of the air carrier [see Global satellite radio navigation system. Ed. V.N.Kharisova, A.I. Perova and others M., IPRZhR, 1999, p.30].

At the same time, a similar problem is also solved at the combat control station using a receiver for processing radio navigation signals 14 and the navigation processor 13, but unlike the air carrier, on which the absolute coordinates are measured (or calculated) due to the movement of the latter continuously, at the combat control point the process is a one-time process for each specific standing point.

As noted above, two coordinate systems are used for orientation in the space of the axes of the MFRS VN 4: the Earth coordinate system X _g Y _g Z _g and the coordinate system X ₁ Y ₁ Z ₁ associated with the VN axes.

The system of earth axes X _g Y _g Z _{g is} rigidly connected to the earth.

The Y _g axis is directed vertically upward, and the X _g and Z _g axes are located in the horizontal plane.

The X _g axis is directed to the north, forming the right coordinate system with the Y _g , Z _g axes. The right coordinate system determines the positive direction of the rotation angles of the axes: for example, from the X _g axis to the Y _g axis - counterclockwise, viewed from the end of the Z _g axis and so on along all axes of the system (from Y _g to Z _g from the end of the X axis _g and from Z _g to X _g from the end of the Y axis _g ).

The axis Z _{g is} directed perpendicular to the other two (X _g , Y _g ), closing the right coordinate system.

The system of connected coordinate axes is rigidly connected to the HV casing. The origin of the coordinate system X ₁ Y ₁ Z ₁ is located in the center of gravity of the VN.

The axis X ₁ (longitudinal axis) lies in the plane of symmetry of the HH, is directed from the stern to the bow and parallel to the longitudinal axis of the HH.

The Y ₁ axis (normal axis) lies in the BH symmetry plane and is rotated counterclockwise by an angle of 90 ° relative to the X ₁ axis.

The axis Z ₁ (transverse axis) is perpendicular to the plane X ₁ 0 Y ₁ and is directed to the right (if you look along the BH).

The system of connected axes, like the earth's one, is right.

The transition from the associated X ₁ Y ₁ Z ₁ to the terrestrial X _g Y _g Z _g coordinate system is carried out by three turns:

- rotation of X _g Y _g Z _g in the horizon plane X _g Z _g relative to Y _g by the angle ψ, while Z _g occupies the position Z ', X _g → X';

- rotation X 'Y _g Z' relative to Z 'at an angle υ, then X' occupies the position X ₁ , Y _g → Y ';

- turn X ₁ Y 'Z' relative to X ₁ by the angle γ, then 'Y occupies the position Y ₁ , Z' → Z ₁ .

The angle υ formed by the axis X ₁ with the horizontal plane X _g 0 Z _g is called the pitch angle.

The angle ψ formed by the projection of the X ₁ axis onto the horizontal plane X _g 0 Z _g , with the X _g axis, is called the yaw angle (path angle).

The angle γ formed by the axis Z ₁ and the horizontal plane X _g 0 Z _g is called the angle of heel.

Table 1 shows the direction cosines for the transition from one coordinate system to another [see G.S. Byushgens, R.V. Studnev. Flight dynamics. Spatial movement. M., Engineering, 1983, S. 16].

Table 1 X ₁ Y ₁ Z ₁ X _g Cosψ Cosυ -Cosγ Cosψ Sinυ + Sinγ Sinψ Cosγ Sinψ + Sinγ Cosψ Sinυ Y _g Sinv Cosγ Cosυ -Sinγ Cosυ Z _g -Sinψ Cosυ Sinγ Cosψ + Cosγ Sinψ Sinυ Cosγ Cosψ -Sinγ Sinψ Sinυ

Information on pitch angles υ and roll γ is received in the CVS VN 5 from the roll sensor located in the inertial system VN 1.

The yaw angle ψ is calculated by the formula:

ψ = 360 ° - α _int

where α _BH is the directional angle BH.

The work of MFRS VN 4 is as follows:

- MFRS VN 4 detects the target and determines its coordinates X _1C Y _1C Z _1C (or ε _C , β _C , D _C ) in the associated coordinate system;

- CVS VN 5 recalculates the received coordinates X _1C Y _1C Z _1C to earth X _gC Y _gC Z _{g gC} (see table 1);

- TsVS VN 5 brings the obtained earth coordinates to the coordinate system XYZ, adopted for topographic referencing and transmission of the missile defense to air defense systems:

X _C = Y _gC , Y _C = Z _gC , Z _C = Y _gC .

This transformation is due to the fact that the coordinate systems (connected X ₁ Y ₁ Z ₁ and terrestrial X _g Y _g Z _g ) adopted for the MFRS VN 4 are right-handed, and the coordinate system XYZ adopted for topographic referencing and transmission of the missile system to the air defense system is left-handed . In this case, the positive direction of the angles (ψ, υ, γ) in the right SCs is directed counterclockwise, and in the left SCs (angle α) it is directed clockwise.

After this conversion, the HV can transmit target designation through the control unit relative to the standing point of the control unit at the control unit 8, then from the control unit 8 to the control unit.

In this case, the binding of the PU is carried out in the coordinate system of the URPN 8, i.e. _Urpn X, Y _urpn, Z _urpn in which the axis X coincides with _urpn URPN longitudinal axis 8. The coordinates of the standing are measured from the UE point of standing URPN 8, and heading angle α launcher _HPA - from the positive direction to direction 8 URPN longitudinal axis PU clockwise. In view of the above, the target data are recalculated from the URPN 8 to the target elevation angle ε _c , the target azimuth β _c and the slant range to the target D _C relative to its standing point.

In order to simplify the hardware construction while reducing the cost of receiving devices for processing radio navigation signals 2 and 14 and navigation processors 3 and 13, they measure their own coordinates both on the air carrier and on the combat control point, not only three coordinates, but only two, since the current height of the air carrier quite accurately determined using airborne altimeters, and the height of the combat control point during the firing of an “invisible” (over-horizon) target can be considered zero.

If a low-flying target, accompanied by a radar on an air carrier, begins to maneuver after launching a missile launcher 17, the data of the flight mission (or target designation) worked out by the radar homing head before the missile launcher 17 leaves the launcher may “become outdated” and angular errors of target designation (or target sighting) by the time the signal is captured, the targets will become more than acceptable.

To ensure the capture of the target signal by the homing radar in such a situation, it is envisaged to transmit radio correction signals onboard the SAM 17, for example, at the frequency of the target illumination channel, generated by the HV 5 CVC according to information from the VF 4 MFRS.

Thus, the introduction into the prototype of an anti-aircraft missile system of an air carrier with a radar for illumination and guidance, and with the implementation of measuring (or determining) its own current coordinates from the signals of the orbital constellation of the radio navigation system (RNS), as well as the introduction of a receiving control unit for processing radio navigation signals into the control center and the navigation processor allowed to increase the long border of detection and the zone of destruction of low-flying targets by 3-4 times, which is especially important when dealing with Persian high-speed aircraft that use flight to overcome the danger zone at altitudes of less than 40-50 m, and also use natural shelters, low mountains, etc. At the same time, these introductions lead to an increase in the number of firing channels of the complex, using SAM with both semi-active and and with active radar homing heads.

Additional benefits include the following options:

- the accuracy of the issued data in the “radio navigation” mode does not depend on the duration of the march;

- the absolute marginal error of retention (or measurement) of the directional angle in motion is not more than 0.6 deg / hour;

- the standard deviation of the production of rectangular coordinates and height of not more than 10 m in the parking lot and not more than 30 m in motion.

Claims (1)

A mobile anti-aircraft missile system for detecting and destroying aerodynamic, ballistic targets and cruise missiles as part of a series-connected target detection station, a combat control station containing data reception and transmission equipment, the second output of which is connected to a digital computer system of a combat control center, and a radar installation and guidance, a launcher containing series-connected equipment for receiving and transmitting data, a digital computing system of launches installation, a rotary launcher, anti-aircraft guided missiles with semi-active or active guidance methods, while the third input of the digital computer system of the launcher is connected to the output of the navigation, topographic and orientation systems, characterized in that air carrier with a radar for illumination and guidance is additionally introduced, containing series-connected multifunctional radar station, digital computer system and equipment for receiving and transmitting data of airborne For this, the output of the airborne data reception and transmission equipment is connected to the input of the data transmission and reception equipment of the combat control point, and the second input of the airborne digital computer system is connected to the output of the navigation processor, the first input of which is connected to the output of the radio navigation signal processing receiver, and the second input is connected to the output of the inertial system, and a radio navigation processing receiver is connected in series to the combat control center Ion signals and navigation processor command and control points, whose output is connected to a second input of a digital computing system command and control points.

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