CN113008080B - Fire control calculation method for offshore target based on rigidity principle - Google Patents

Fire control calculation method for offshore target based on rigidity principle Download PDF

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CN113008080B
CN113008080B CN202110106204.3A CN202110106204A CN113008080B CN 113008080 B CN113008080 B CN 113008080B CN 202110106204 A CN202110106204 A CN 202110106204A CN 113008080 B CN113008080 B CN 113008080B
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target
elevation angle
distance
angle
fire control
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CN113008080A (en
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段岩
刘桢
张佳丽
刘红海
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Hebei Hanguang Heavy Industry Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
    • F41G5/20—Elevating or traversing control systems for guns for vehicle-borne guns for guns on ships
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

According to the method for fire control calculation of the offshore targets based on the rigidity principle, due to the fact that the size of the unmanned boat is small, the offshore targets are usually higher than the horizontal plane of the launching point of a machine gun, and the influence caused by the fact that the target is higher than the launching point when the aiming angle is calculated is corrected; when the elevation angle and the elevation angle are large, the degree of ballistic curvature changes if the horizontal distance angle a is used 0 The target shooting will generate larger distance deviation, a correction quantity needs to be added in the high and low sighting angles, the correction quantity is called as the distance correction quantity of the high and low target angles, and the accuracy of the unmanned ship fire control calculation can be greatly improved.

Description

Fire control resolving method for offshore target based on rigidity principle
Technical Field
The invention belongs to the technical field of fire control of unmanned boats, and particularly relates to a method for performing fire control calculation on an offshore target based on a rigidity principle.
Background
In the process of task execution of the unmanned boat, the mission task of the unmanned boat is to alert, detect, search and monitor the air-sea target; warning, deterring enemy marine targets and forces, and if necessary, striking them. The unmanned ship integrates target situation display, target threat judgment, fire control solution, weapon control, firepower striking, photoelectric tracker control display, navigation data processing, and processing, displaying and remote control command of various information.
The basic working principle of the unmanned ship is that target data (distance, bulwark angle and altitude angle) of a photoelectric tracker are received, motion characteristics (position, speed and course of a target existing point) of the target are obtained through point rejecting and smooth filtering, attitude information (course, roll angle and pitch angle) of the unmanned ship is received from inertial group equipment, the navigational speed of the unmanned ship is received from a log, coordinates of a target future point are calculated according to the motion characteristics of the target, stable shooting data are calculated according to a solution principle, unstable shooting data are calculated through swing transformation and are sent to a ship-borne weapon to drive the weapon to lock and attack the target.
Various targets can be encountered in the task execution process of the unmanned ship, wherein the targets comprise a plurality of offshore targets, and accurate fire control calculation is carried out on the offshore targets so as to hit the targets, which is an important part of the mission of the unmanned ship.
Disclosure of Invention
In view of the above, the present invention provides a method for calculating fire control of an offshore target based on a rigid principle, which can correct the influence caused by the fact that the target is higher than a launch point when an aiming angle is calculated, and greatly improve the accuracy of fire control calculation of an unmanned ship.
A method for calculating fire control of offshore target based on rigidity principle includes changing bending degree of trajectory when elevation angle and elevation angle of target exceed set value, adding a correction quantity in elevation angle and elevation angle, calling distance correction quantity of elevation angle of target to obtain correction quantity of distance of elevation angle of target
Figure BDA0002917501790000011
Represents; let Δ a = a-a 0 Then:
Figure BDA0002917501790000012
Figure BDA0002917501790000013
the distance variation representing the elevation angle change by 1mil is a known quantity; a represents a distance angle when the elevation angle is not 0, and is calculated by the following lindel formula:
sin(2a+ε m )＝sin2a 0 ·cos 2 ε m +sinε m
ε m representing the elevation angle of the object, a 0 Represents a horizontal distance angle;
the corresponding advance point M for the target t And a trajectory point M obtained after correcting the trajectory meteorological conditions d The firing angle θ of the fire control system is:
Figure BDA0002917501790000021
wherein: α = f (d) d ) Is shown at a distance d d The horizontal distance angle above is obtained by looking up a shooting table; delta theta 0 Correcting the zero-position high-low installation deviation of the naval gun; k is a radical of d Is the comprehensive correction quantity; d t And d d Respectively as advance points M t And ballistic point M d A corresponding horizontal distance; h is the height of the target relative to the unmanned boat.
Preferably, the fire control calculation method is used when the distance angle is less than or equal to 5 degrees and the altitude angle is less than or equal to 10 degrees.
Preferably, the distance correction amount of the target elevation angle is not corrected when the elevation angle and the elevation angle are smaller than the set values.
Preferably, the target is an offshore target.
Preferably, the target is an onshore target.
The invention has the following beneficial effects:
according to the method for fire control calculation of the offshore target based on the rigidity principle, the unmanned boat is small in size, the offshore target is usually higher than the horizontal plane of a machine gun launching point, and the influence caused by the fact that the target is higher than the launching point when the aiming angle is calculated is corrected; when the elevation angle and the elevation angle are large, the degree of ballistic curvature changes if the horizontal distance angle a is used 0 The target shooting will generate larger distance deviation, a correction quantity needs to be added in the high and low sighting angles, the correction quantity is called as the distance correction quantity of the high and low target angles, and the accuracy of the unmanned ship fire control calculation can be greatly improved.
Drawings
FIG. 1 is a diagram of the effect of a method for stabilizing shots on offshore targets by a machine gun fire control system.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The offshore target has a certain height, the calculation of shooting data is solved by using a sea basic shooter, according to the ballistic trajectory rigidity principle, when the distance angle is less than or equal to 5 degrees and the altitude angle is less than or equal to 10 degrees, the ballistic trajectory can be regarded as a rigid bow shape and revolves around the launching point in the small angle range from the upper part to the lower part of the horizontal line without changing the shape. Based on this, the shooting data of offshore targets or opposite-shore targets with a certain height are obtained by using the opposite-sea basic shooting table.
Due to the target elevation angle epsilon m Will cause the shot distance to vary. When the elevation angle and the elevation angle are small, according to the ballistic rigidity principle, the ballistic shape is not considered to be changed, and the distance correction amount of the target elevation angle is not corrected under the condition; when the elevation angle and the elevation angle are large, the degree of ballistic curvature changes if the horizontal distance angle a is used 0 When the target shooting will generate larger distance deviation, a correction quantity is added in the high and low aiming angles, and the correction quantity is called as the distance correction quantity of the high and low target angles, so as to obtain the target shooting distance correction quantity
Figure BDA0002917501790000031
And (4) showing. Let Δ a = a-a 0 Then:
Figure BDA0002917501790000032
Figure BDA0002917501790000033
a distance variation amount representing a change in elevation angle by 1mil (dens); a represents a distance angle when the elevation angle is not 0, and can be calculated by the following lindel formula:
sin(2a+ε m )＝sin2a 0 ·cos 2 ε m +sinε m
in the basic firing charts of guns with various calibers, distance correction tables with target height angles are generally arranged and can be substituted into a formula to directly participate in calculation.
Advance point M corresponding to target t And a ballistic point M obtained after correcting ballistic meteorological conditions d The fire control system calculates a corresponding stable firing angle formula as follows:
Figure BDA0002917501790000034
wherein: delta theta 0 Correcting the zero-position high-low installation deviation of the naval gun; k is a radical of d Is the comprehensive correction quantity; d t And d d Respectively as advance points M t And ballistic point M d A corresponding horizontal distance; h is the height of the target relative to the unmanned boat;
the method for calculating the stable shooting data by the fire control system is shown in figure 1. It can be seen that there is no gun firing watch. The shooting angle is calculated by adopting a ballistic rigidity principle, namely calculating the horizontal distance angle alpha of the seawater and a high-low angle epsilon corresponding to the target advance point.
When the fire control solution is carried out on the offshore target based on the rigidity principle, the following four aspects need to be emphasized:
according to the principle of ballistic rigidity, the distance angle corresponding to the ballistic point is the horizontal distance angle corresponding to the slant distance, but the horizontal distance corresponding to the ballistic point cannot be used.
And B, according to the ballistic principle, at a certain height, correcting the nonstandard ballistic meteorological condition, wherein the nonstandard ballistic meteorological condition correction comprises distance, height and direction correction, so that the ballistic meteorological condition height correction on a ballistic point is increased.
And C, when the target height is higher, the ballistic stiffness principle is not satisfied, and the non-ballistic stiffness principle distance correction amount is corrected.
Some propose to unify the elevation angle corresponding to the target advance point without using the ballistic point when calculating the elevation angle. Namely, the distance correction in the direction is carried out by taking the connecting line of the gun and the target advance point as the reference. The correction method is inaccurate in distance correction, has obvious errors and is not beneficial to improving the shooting precision.
The method is used for carrying out fire control calculation on offshore targets based on the rigidity principle. The fire control resolving precision of the unmanned ship machine gun on the offshore target or the onshore target is improved by utilizing the ballistic rigidity principle.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. A method for calculating fire control of offshore targets based on a rigidity principle is characterized in that when the elevation angle and the elevation angle of a target exceed set values, the bending degree of a trajectory changes, a correction quantity is added into the elevation angle and the elevation angle, the correction quantity is called as distance correction quantity of the elevation angle of the target, and therefore the method is used for solving fire control of offshore targets
Figure FDA0002917501780000011
Representing; let Δ a = a-a 0 Then:
Figure FDA0002917501780000012
Figure FDA0002917501780000013
the distance variation representing the elevation angle change by 1mil is a known quantity; a represents a distance angle when the elevation angle is not 0, and is calculated by the following lindel formula:
sin(2a+ε m )＝sin2a 0 ·cos 2 ε m +sinε m
ε m representing the elevation angle of the object, a 0 Represents a horizontal distance angle;
the corresponding advance point M for the target t And a trajectory point M obtained after correcting the trajectory meteorological conditions d The firing angle θ of the fire control system is:
Figure FDA0002917501780000014
wherein: α = f (d) d ) Is shown at a distance d d The horizontal distance angle above is obtained by looking up a shooting table; delta theta 0 Correcting the zero-position high-low installation deviation of the warship cannon; k is a radical of formula d Is the comprehensive correction quantity; d t And d d Are respectively advance points M t And ballistic point M d A corresponding horizontal distance; h is the height of the target relative to the unmanned boat.
2. A method of fire resolution for offshore targets based on the rigid principle as claimed in claim 1, wherein the fire resolution is used at distance angles of 5 degrees or less and elevation angles of 10 degrees or less.
3. The method of claim 1, wherein the distance modifier for the elevation angle of the target is not modified when the elevation angle and the elevation angle are less than the predetermined values.
4. A method of fire resolution for an offshore object based on the rigid principle as claimed in claim 1, wherein the object is an offshore object.
5. A method of fire control resolution for offshore targets based on the rigid principle as claimed in claim 1, wherein the target is an onshore target.
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Publication number Priority date Publication date Assignee Title
US8172139B1 (en) * 2010-11-22 2012-05-08 Bitterroot Advance Ballistics Research, LLC Ballistic ranging methods and systems for inclined shooting
CN103604316A (en) * 2013-11-22 2014-02-26 北京机械设备研究所 Ballistic correction method for multi-bullet shooting
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CN105765602A (en) * 2013-10-31 2016-07-13 威罗门飞行公司 Interactive weapon targeting system displaying remote sensed image of target area
CN206704484U (en) * 2017-03-14 2017-12-05 康郦 Ship outboard integrated supervision and system of defense
CN108036676A (en) * 2017-12-04 2018-05-15 北京航空航天大学 A kind of autonomous reentry guidance method of full directive based on three-dimensional resolution Value of Reentry Vehicle
CN108731542A (en) * 2018-08-14 2018-11-02 成都昊图新创科技有限公司 Auxiliary sighting device, gun sight with debugging functions and auxiliary aim at modification method
CN211791721U (en) * 2020-04-30 2020-10-27 上海黄浦船用仪器有限公司 Naval vessel gun angle monitoring system
CN112179210A (en) * 2020-08-31 2021-01-05 河北汉光重工有限责任公司 Method for correcting shot hit deviation of naval gun

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8172139B1 (en) * 2010-11-22 2012-05-08 Bitterroot Advance Ballistics Research, LLC Ballistic ranging methods and systems for inclined shooting
CN105765602A (en) * 2013-10-31 2016-07-13 威罗门飞行公司 Interactive weapon targeting system displaying remote sensed image of target area
CN103604316A (en) * 2013-11-22 2014-02-26 北京机械设备研究所 Ballistic correction method for multi-bullet shooting
CN104890842A (en) * 2014-03-03 2015-09-09 王振牛 Technical scheme of passive protection of aircraft carrier
CN204329777U (en) * 2014-12-11 2015-05-13 中国人民解放军镇江船艇学院 Ships and light boats cannon intelligence gunnery system
CN206704484U (en) * 2017-03-14 2017-12-05 康郦 Ship outboard integrated supervision and system of defense
CN108036676A (en) * 2017-12-04 2018-05-15 北京航空航天大学 A kind of autonomous reentry guidance method of full directive based on three-dimensional resolution Value of Reentry Vehicle
CN108731542A (en) * 2018-08-14 2018-11-02 成都昊图新创科技有限公司 Auxiliary sighting device, gun sight with debugging functions and auxiliary aim at modification method
CN211791721U (en) * 2020-04-30 2020-10-27 上海黄浦船用仪器有限公司 Naval vessel gun angle monitoring system
CN112179210A (en) * 2020-08-31 2021-01-05 河北汉光重工有限责任公司 Method for correcting shot hit deviation of naval gun

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