JPS6333639B2 - - Google Patents

Description

Detailed Description of the Invention This invention relates to target tracking (hereinafter abbreviated as radar tracking) using a radar (mainly a radar with a pencil beam) and an optical sensor (mainly a television camera or an infrared camera). In a device that has a function of target tracking using an optical signal processing system (hereinafter referred to as optical tracking), when tracking an anti-aircraft target, the movement of the target is calculated moment by moment, and the target's movement is calculated moment by moment. Means for automatically observing the error between the target and the bullet by predicting the future position, controlling the gun as a weapon, firing the bullet at the target, and tracking the target and the bullet. This is an automatic bullet observation device that is characterized by improvements.

Conventionally, when controlling a naval gun and firing a bullet at a target, the bullet's time of flight, which is obtained as a result of trajectory calculations that take into account the target's position vector, velocity vector, curvature, etc. Aim the gun at a future location and fire a bullet. in this case,
The probability that the bullet will reach the target area is extremely low unless modified. The causes of this are thought to be due to various factors, including the fact that the bullet does not move along the trajectory predicted by the target during flight, the unpredictable effects of wind along the way, and subtle variations in the shape of the bullet itself. Target tracking errors and errors in gun control are believed to be the main causes. As a means to solve this problem, it is possible to track the bullet by providing a distance gate for the bullet near the target distance being tracked after the bullet is fired, and calculate the angular error between the bullet and the tracked target. It becomes necessary. One method for observing bullet impact is the two-point bullet observation method. As shown in Figure 1, this method has two bullet distance gates (BG1 and
It is abbreviated as BG2. ), when the bullet passes through BG1, the ballistics process starts, and when the bullet passes through BG2, the ballistics process and the angle error calculation process end once. Therefore, the bullet is from BG1
Only the time up to BG2 t _g = 2△R/V _G (V _G is the velocity of the bullet according to trajectory calculation at the target point) is a dead time, and continuous processing is impossible when bullets are continuous. It had certain drawbacks. In recent years, the use of automatic guns has progressed even in naval guns, and efforts are being made to increase the rate of fire and the number of bullets fired. Therefore, the above-mentioned situation of successive bullets has existed.

This invention improves the above-mentioned drawbacks of the two-point bullet view method to enable continuous bullet view processing, and furthermore performs correlation processing for BG1 and BG2 for each bullet using a bullet view processor. Impact observation characterized by a means to increase the probability that the bullet will enter the target hit area by statistically processing the error, displaying the bullet observation error, and automatically providing feedback to the control specifications of the gun. It is a device.

The details of this invention will be explained using FIGS. 2 to 6.

In Figure 2, 1 shows the overall block diagram of the fire control system (hereinafter abbreviated as "FCS"), 2 shows the naval gun system (hereinafter abbreviated as "GUN"), and 3
indicates other weapon devices.

4 in FIG. 2 is the FCS operator interface section, which is composed of switches, dials, displays, etc. for the FCS operator to operate.
5 is a radar processor unit (hereinafter abbreviated as RDP) that controls the radar system of the FCS, and 6 is a control computer that controls the entire FCS, and transmits control data to GUNs 2 and 3 via a signal converter 20. Performs control to send out. 7 is a radar system transmitter, 8 is a microwave three-dimensional circuit section, 9 is an antenna section, 10 is a radar system receiver, 11 is a video distribution section, and 12 is a distance/angle tracking processing section (hereinafter abbreviated as "RATU"). ),
13 is a ballistic processing unit (hereinafter abbreviated as "SPOT"), 1
4 is an AGC processing section (hereinafter abbreviated as AGC), 15 is a radar display processing section, and 16 is a radar display. Further, 17 in FIG. 2 is an optical sensor transmitter/receiver, 18 is an optical signal processing section, and 19 is an optical display.

In Figure 2, the FCS operator
After activating the entire FCS system via the interface 4, the radar transmission command signal 31 is sent to the radar transmitter 7,
Send to RDP5, RATU12. The radar transmitter 7 is
Upon receiving the transmission pre-trigger signal 32 from the RATU 12, transmission is started and a transmission radio wave 34 is sent to the microwave three-dimensional circuit section 8, and at the same time, the radar transmitter 7 sends out a transmission trigger signal 33 as a timing signal actually transmitted. The transmitted radio wave 34 is emitted into space from the antenna section 9, and the target reflected wave is received by the antenna section 9 and sent to the radar receiver 10 via the three-dimensional circuit section 8.
Enter. Based on the control signal 42 from the AGC 14, the radar receiver 10 outputs a video signal, that is, a range video signal 35, and an elevation error video signal (hereinafter abbreviated as "ΔE video signal") 3.
6. Send the bearing error video signal (hereinafter abbreviated as "ΔB video signal") 37 to the video distribution section 11 where it was formed. The video distribution unit 11 sends the target video signals 35, 36, 37 to the RATU 12,
It is distributed to the SPOT 13, AGC 14, and radar display section 15. As will be shown later, the video signal is switched depending on whether the target is being tracked or the bullet is being tracked.

In FIG. 2, when the operator only commands target tracking, the above video signals 35, 3
6 and 37, the RATU 12 and AGC 14 operate, and the signal from the radar receiver 10 becomes a target video signal, and the RATU 12 detects the target distance R, elevation error angle △E, and bearing error angle △.
Detected as B, RDP as target data 38
Sent to 5. The RDP 5 executes target tracking processing and measurement calculations based on the target data 38, and also sends a servo drive control signal 22 to the radar/optical system drive section 21 via a signal converter 20 for target tracking. send and receive. Radar/optical system drive section 21
39, the radar antenna system and the optical sensor system are driven to capture the target at or near the center of the antenna axis and the optical sensor axis.

In Figure 2, the operator points to the tracking target.
When commanding GUN control and bombardment observation,
The RDP5 is sending target information 43 to the control computer 6, and the control computer is executing trajectory calculations for GUN2 control. The result of trajectory calculation is also signal 46 for RDP5 (includes bullet flight time T ₂ ).
Feedback is provided moment by moment. When the operator commands firing, RDP5 fires RATU12 and
When the time when the firing command signal begins to be sent from FCS1 to GUN2 for SPOT13 is Ts, and the time when the firing command signal ends is Te, the time (Ts + T ₂
-2) to time (Te+T ₂ +2), the bullet command signal 29 is generated, and the RATU12 and
Sent to SPOT13. The RTU 12 receives the bullet tracking command signal 29 and receives the main tracking/bullet tracking switching gate signal 4.
0 (see Figure 5) and SPOT13, AGC1
Send to 4. According to the above timing signal 40,
RATU12 is the target radar tracking data (R, △
E, △B) is sent to the RDP5 as a detection signal 38,
SPOT13 is detected as bullet elevation angle error signal △E _B and bearing angle error signal △B _B by a method described in detail later, and signal 43 (△E _B ,
ΔB _B ) is sent to the RDP 5, and the RDP 5 sends the detection signal 38 as target data and the signal 43 as bullet data to the operator interface section 4 and the radar display processing section 15, and the radar display 16.
to be displayed. Further, the SPOT 13 sends a bullet range video signal 39 to the radar display processing section 15 and displays it on the radar display 16 alternately with the target range video.

In FIG. 2, the optical sensor 17 and the optical signal processing section 18
When the radar tracking target is simultaneously acquired and tracked, the optical signal processing unit 18 sends the optical tracking data (R _l , △E _l , △B _l ) to the RDP 5 and the control computer 6, and the operator interface Optical tracking data is used in place of radar tracking data according to instructions from the department.

Below are the features of this automatic ballistic device, AGC1.
4 and SPOT13 will be described. Figures 3 and 4
The basic timing is shown in the figure, and the operation is shown in FIGS. 5 and 6.

Figure 3 shows the main timing relationships, where a indicates the transmission pulse interval (PRT);
b shows the timing relationship between the transmitted pulse and the target reflected wave during normal target tracking. c is a main tracking/bullet tracking switching timing signal 40 created when the RATU 12 receives the bullet tracking command signal 29 mentioned above.
The main tracking time and bullet observation time are set alternately for the transmission PRT. d represents the target tracking timing created by c, and e represents the bullet tracking timing created by c.

Fig. 4 shows the shot timing created around the position away from the transmitted pulse by a time corresponding to the target tracking distance in the shot shooting time period shown in Fig. 3c, where a is the main tracking gate. ±△R from the center of
Dankan gate located at a distance corresponding to
This shows the timing for creating BG1 and BG2. Also, b is for the main tracking range/video signal.
AGC timing gate, c is bullet range
AGC timing gate for video signal,
Furthermore, d each represents an angular timing gate for sampling the bullet's angular error signal.

Figure 5 is an internal block diagram of AGC14.
53 is the main AGC voltage formation circuit for the tracking target;
54 is bullet view AGC voltage formation circuit, 55 is bullet view STC
The circuit 56 is an AGC voltage switching circuit.

In Figure 5, during normal target tracking, the main
Only the AGC voltage forming circuit 55 is operating, and the AGC gate signal 41 (in this case, shown in FIG. 4b) sent from the RATU 12 in response to the range video signal sent from the radar receiver 10 is Therefore, the main
An AGC voltage is formed and sent to the AGC voltage switching circuit 56. In the AGC voltage switching circuit 56, the operator
If there is no MGC voltage from the interface unit 4 and no MGC designation, the above-mentioned main AGC voltage is sent to the radar receiver 10 as the AGC voltage 42. In the case of MGC designation, the MGC voltage is sent to the radar receiver 10 as the AGC voltage 42.

In Figure 5, the main tracking from RATU12/
When the bullet tracking switching timing signal 40 (FIG. 3c) is input, the bullet tracking AGC voltage forming circuit 54 operates during the bullet tracking time period at the timing shown in FIG. 3c.
The bullet AGC voltage forming circuit 54 generates a bullet range video signal from the radar receiver.
AGC gate signal 4 sent from RATU12
1 (in this case, it is Figure 4 c), and the bullet view STC
From the bullet STC voltage sent from the circuit 55,
Forming a bullet AGC voltage, AGC voltage switching circuit 5
Send to 6. The AGC voltage switching circuit switches between the main AGC voltage and the bullet AGC voltage and sends it as an AGC voltage 42 to the radar receiver 10 in response to the main tracking/bullet tracking switching timing signal 40 described above.

The bullet sighting STC circuit 55 in FIG. 5 receives the distance signal 38 of the tracked target from the RATU 12, creates a DC voltage in advance, and uses the bullet sighting AGC voltage as the bullet sighting STC voltage to be used as the starting voltage of bulleting AGC. It is sent to the formation circuit 54.

FIG. 6 is an internal block diagram of the SPOT 13, in which 60 is the ballistic processor, 61 is the ballistic gate creation circuit, 62 and 63 are the ballistic gate BG1,
Bullet video detection circuit for BG2, 64 is n/m
Probability detection circuit, 65 and 66 are bullet gate BG respectively
1, a bipolar stretch circuit for ΔE video and ΔB video for BG2, and 67 an average value circuit for ΔE and ΔB sampling data.

In FIG. 6, the ballistic processor 60 is
Upon receiving the bullet command signal 29 from RDP5,
After confirming the input of the main tracking/bullet tracking switching timing signal 40 (FIG. 3c) from the RATU 12, the bullet tracking process start reset signal 80 is sent to the bullet tracking gate creation circuit 61 and the n/m probability detection circuit 64. Start processing. If input of the above signal 40 cannot be confirmed, abnormal status signal 7 is sent to RDP5.
9 and send. The bullet sighting gate creation circuit 61 in FIG. 6 creates the bullet sighting gates: BG168, BG269 timing signals ( 3a) and send them to the video detection circuit 62, respectively. The video detection circuit 62
Radar receiver 10 only between BG168 and BG269
Detects the range video signal 35 sent from. This range video signal 35 is applied to the bullet according to the bullet view AGC timing shown in Figure 4c.
This is the range video signal of the bullet with AGC. Video detection circuit 62 sends a BG1 detection signal 70 to bipolar stretch circuit 65 and n/m probability detection circuit 64 if the bullet threshold is exceeded in BG1. The n/m probability detection circuit 64 detects n or more out of m consecutive PRTs.
When the above BG1 detection signal 70 is obtained, it is determined that the bullet has passed through the bullet sighting gate BG168, and the bullet sighting number i and bulleting time t _i are set as the BG1 bullet sighting data (i, t _i ).
71, it is sent to the ballistic processor 60. The video detection circuit 63 also sends the BG2 detection signal 72 to the n/m probability detection circuit 64, and the n/m probability detection circuit 64
Perform the same processing as the BG1 signal and use the bullet gate BG26
9 is determined to be that the bullet has passed, and the bullet sight number j and bullet sight time t _j are sent to the bullet sight processor 60 as BG2 bullet sight data (j, t _j ) 73. On the other hand, the bipolar stretch circuit 65 in FIG.
0, the △E video signal 36 and △B video signal 37 sent from the radar receiver 10 are
BG1 sent from Dankan gate creation circuit 61
It is sampled and held by the angle gate signal AG1 (FIG. 4d) and sent to the average value circuit 67. The average value circuit uses BG1 sent from the n/m probability detection circuit 64.
Every time the detection signal 70 is detected, the sampling data (△E, △B) sent from the circuit 65 are added,
Dividing BG168 by the number of times of judgment when judging bullet passage, arithmetic average data: (△E (BG1), △B
(BG1)) is sent to the ballistic processor 60. When the bipolar stretch circuit 66 receives the BG2 detection signal 72 from the video detection circuit 63, it converts the ΔE video signal 36, The ΔB video signal 37 is sampled and held and sent to an average value circuit 67. Average value circuit 67
performs the same processing as in the case of BG1, and sends it to the ballistic processor 60 as arithmetic average data: (ΔE(BG2), ΔB(BG2)). As mentioned above, Dankan gate
The trajectory information of the bullet that passed through BG168 and BG269 is (i, t _i , △E _i (BG1), △B _i (BG1)), (j, t _j ,
Since the pair of △E _j (BG2), △B _j (BG2)) with time information is passed to the ballistic processor 60, after the bullets are fired continuously and pass through the ballistic gate BG1, Even if the next bullet reaches Dankan gate BG1 before that bullet reaches Dankan gate BG2,
Since it is possible to determine the order of bullets, continuous bullet observation processing becomes possible.

The ballistic processor 60 in FIG. 6 receives data pairs (i, t _i , ΔE _i (BG1), ΔB _i (BG1)) and The following data correlation processing is performed on (j, t _j , △E _j (BG2), △B _j (BG2)).

2.2△R>V _G (t _j -t _i )>1.8△R Bullet velocity data 80: V _G is given to the projectile processor 20 from the control computer 6 in Fig. 2 via the RDP 5. .

Ballistic gate BG1 that satisfies the above inequality condition,
Assuming that the set of BG2 is a pair of identical bullets, the ballistic processor 20 calculates the following average value, △E _B (i) = 1/2 {△E _i (BG1) + △E _j (BG2)} △B _B (i) = 1/2 {△B _i (BG1) + △B _j (BG2)} Furthermore, the average value and standard deviation for the number k of identical bullet pairs are calculated using the following formula, △E _B 1/k _k 〓 ⁱ⁼¹ △E _B (i), △B _B 1/k _k 〓 ⁱ⁼¹ △B _B (i), Bulletin data file 79. The ballistic processor 60 processes the ballistic data file 79 described above.
Send to RDP5. As mentioned above, the RDP 5 controls the display on the radar display based on the ballistic data file 79, and sends it to the air traffic control computer 6 in FIG. When the operator issues a command to automatically correct bullet views, the control computer 6 uses the above (△E _B , △B _B ) as correction amounts for the gun control data (E _g , B _g ), and adjusts the gun control data accordingly. is E _g +α
△E _B , B _g +β△B _B. α, β are (0.5 to 1.0)
This is an operator-specified experience factor that takes a value between 1 and 2, and is sent to the RDP 5 via the operator interface section 4 in FIG.

As described above, according to the present invention, the two-point impact observation method has been improved, making it possible to perform continuous impact observation even when bullets are continuous, and making it possible to perform bullet impact observation continuously. As the number increases, ballistic error angle data with a high probability is obtained using statistical methods and displayed on the radar display, and gun control data is automatically adjusted based on the operator's designation for automatic ballistic correction. Since only the error angle is corrected, the probability of the bullet hitting the target can be increased, and the automatic bullet viewing device provides faster response time for gun control. In this invention, although a ship-mounted gun device is shown as an example, it goes without saying that it can also be used as an automatic bullet impact observation device for a vehicle-mounted gun.

[Brief explanation of the drawing]

Figure 1 is a conceptual diagram of the observation of bullets near the tracked target when firing anti-aircraft targets with a naval gun, Figure 2 is a block diagram of the entire system of the automatic bullet observation device, and Figure 3 is the basics of target tracking and bullet tracking. Figure 4 is a conceptual diagram showing the timing of target tracking and bullet tracking.
A conceptual diagram showing the AGC timing, Figure 5 is an internal block diagram of the AGC processing section which is the basis of the automatic bullet observation device, and Figure 6 is an internal block diagram of the bullet observation processing section showing the characteristics of the automatic bullet observation device. be. In the figure, 1 is an automatic bullet observation device, 2 and 3 are gun equipment and weapon equipment, 4 is an operator interface section, 5 is a radar processor section, 6 is a control computer, 7 is a radar transmitter, and 8 is a three-dimensional circuit. Department,
9 is an antenna, 10 is a radar receiver, 11 is a video distribution unit, 12 is a distance/angle tracking processing unit, 13 is a ballistic processing unit, 14 is an AGC processing unit, 15 is a radar display processing unit, 16 is a radar display unit, 17 is an optical sensor, 18 is an optical signal processing unit, 19 is an optical display,
20 is a signal converter, 21 is a drive unit, and 53 is a main unit.
AGC circuit, 54 is bullet view AGC circuit, 55 is bullet view
STC circuit, 56 AGC voltage switching circuit, 60 ballistic processor, 61 ballistic gate creation circuit, 62
is video detection circuit 1, 63 is video detection circuit 2,
64 is an n/m probability detection circuit, 65 and 66 are bipolar stretch circuits, and 67 is an average value circuit. Note that the same or corresponding parts in the figures are indicated by the same reference numerals.

Claims (1)

[Claims] 1. In an automatic bombardment observation device that has a target tracking radar and a computer, a means to track an anti-aircraft target, a means to predict the altitude maneuverability of an anti-aircraft target and continue tracking, and a future depending on the weapon to intercept the target. A means for calculating a predicted position, a means for controlling a gun as a weapon, and a means for detecting a bullet fired from a gun at both near and far sides along the trajectory of the bullet in the vicinity of the tracked target, and an angle between the tracked target and the target. A means for measuring error data, a means for continuous observation of the bullet, and the same correlation of the bullet data on both the far and near sides with respect to the result of bullet observation to determine that the data is of the same bullet. An automatic bullet impact observation device having means and means for statistically processing bullet angle error data.