KR101402795B1 - System and method for improving naval gun firing accuracy against a small ship target - Google Patents

Abstract

The present invention relates to a naval gun firing control technology and, more specifically, to a naval gun firing control system to effectively correspond to an agile ship target capable of effectively corresponding to a small ship at a remote distance to which the flight time of a shot is long using a medium or a large caliber naval gun. The present invention searches an area where the target can exists and shows the area to an operator to help the operator select the predicted position of the target.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system and a method for improving an anti-

The present invention relates to a gun fire control technique, and more particularly, to a gun fire control system for effectively responding to a high-intensity anti-ship target capable of effectively responding to a small ship at a long distance, Lt; / RTI >

In addition, the present invention relates to a method of controlling gun fire control that effectively responds to a massive anti-ship target using a gun fire control system.

In recent years, the battle between large-scale naval fighters has become harder to find, and more and more people are engaged with small vessels operated by enemies such as pirates and terrorists.

However, naval vessels are designed to be optimized for engagement with large counterpart vessels, which limits their engagement with these small vessels. Especially, in the case of guns, it is necessary to use large-diameter guns to respond from a remote place. To hit a fast-moving target from a long distance, the time of flight (TOF) is too long and the number of guns per minute is limited.

Smaller caliber guns have a higher launch rate per minute, but in the case of guns below 20 mm, the advantages of a naval vessel with a larger armed capacity than a small one are eliminated due to the similarity of the range of armed forces that can be loaded on small vessels.

In addition, since the shot of the gun does not have an induction device, it will fly for a few tens of seconds without correction after it has been fired to the specified position for the non-time. Because the gun control system calculates the exact future position based on the current maneuvering of the enemy ship and fires the shot at that point, theoretically, if the target is maneuvered for the duration of the shot after the shot, There is a problem that it is impossible.

That is, in general, the gun shooting calculation device is very accurate and can shoot the gun very close to the predicted position of the target. However, in the case of a target with a heavy motion that is difficult to predict, the error of the predicted position itself becomes large, resulting in a situation in which the shot is accurately shot at the wrong predicted position.

When the target moves with a large unpredictable maneuver, it is possible to increase the accuracy rate by scattering the shot in a certain area rather than the exact position.

1. Korean Registered Patent No. 10-0702448 2. Korean Patent Publication No. 10-2011-0038488 3. Korean Patent No. 10-1119882

1. Kim, Jin-Jin, "A Study on the Application of the Simulation Environment for the Checking of the Shotgun Control System and Its Application in Development Phase", Journal of the Korea Society for Simulation, Vol.20, No.2, pp.41-48 (June 2011)

The present invention has been proposed in order to solve the problem according to the above background art, and it is an object of the present invention to provide a method for effectively responding to large-sized vessels, even in a long distance with a long time, Control system and method.

In order to achieve the above-mentioned object, the present invention provides a system for controlling the shooting of guns, which can efficiently cope with large-sized vessels even at long distances with long and long time using the medium / large diameter guns.

The gunshot shooting control system includes:

A tracking sensor to track the target;

Target characteristic information that previously defines and stores the characteristic of the target for the tracked target;

Calculating a future target area by calculating a target start limit and a target distance circle for the target according to the characteristics of the predefined target and calculating a target target area based on the specific target predicted position selected as the specific target predicted position is selected, And calculating a shooting specification in the form of a uniform random distribution in a circular area around the calculated target prediction trajectory;

A gun that fires a gun against the target in accordance with a calculated shooting specification; And a control unit.

In this case, the shooting parameters calculation device may further include: a target start-up limit calculation unit for calculating the target start-up limit; A distance calculation unit for calculating a target distance circle; A future target area calculation unit for calculating a future target area using the calculated target distance circle and the target start limit; A graphic interface unit for displaying the calculated future target area to the operator or receiving a specific target prediction position; And a shooting specification calculation unit for calculating the shooting specification; And a control unit.

Further, the future target area may be a fan shape.

In addition, the future target area may be a region where a target may exist after the calculated time (TOF) of the shot calculated by performing the ballistic calculation up to the target.

_MAX)와 최대 변화 가능한 가속도(A_MAX)를 이용하여 산출되는 것을 특징으로 할 수 있다.In addition, the target start limit is the maximum turnover angular velocity (

_MAX ) and the maximum changeable acceleration (A _MAX ).

(여기서, V는 표적의 속도이고, R은 회전 반경을 나타낸다)에 의해 계산되는 것을 특징으로 할 수 있다.Also, the maximum angular velocity is expressed by the following equation

(Where V is the velocity of the target and R is the radius of rotation).

에 의해 산출되고, 상기 표적 거리환 중 표적 최소 이동 거리환은 다음식,

에 의해 산출되는 것을 특징으로 할 수 있다.In addition, the target maximum distance travel distance during the target distance circle is expressed as follows:

And the target minimum travel distance of the target distance circle is calculated by:

.

In addition, the number of shooting guns among the shooting guns may be a number inputted by the number of operations.

Another embodiment of the present invention, on the other hand, comprises: tracking a target; Calculating a future target area by calculating a target maneuvering limit and a target distance circle for the target according to characteristics of a predefined target for the tracked target; Displaying the computed future target area; Calculating a target predicted trajectory using the selected target predicted position and the current position of the target as the specific target predicted position is selected from among the displayed future target regions; Calculating a shooting specification in the form of a uniform random distribution in a circular area around the calculated target prediction trajectory; And firing a gun against the target in accordance with the calculated shooting specification. The gun shooting control method for an effective response of a high-intensity anti-ship target is provided.

According to the present invention, an area in which a target may exist can be found and displayed to the operator, which can help the operator to select the predicted position of the target. In other words, if the operator selects a future position based on the trajectory, the shooting parameters are calculated so that the shot is shot around the corresponding position, thereby increasing the accuracy rate by striking a target in a specific area rather than a specific spot .

Further, as another effect of the present invention, it is possible to dramatically increase the accuracy rate of a small-sized ship such as a pirate, because it has a high accuracy rate when the shooting is performed by using the close-up shot gun which causes explosion at a certain level away from the ground, Points can be mentioned.

FIG. 1 is a conceptual diagram showing a region in which a target may have a target after the TOF of a shot considering the characteristics of the target according to an embodiment of the present invention. FIG.
FIG. 2 is a conceptual diagram showing an example in which an on-going target according to an embodiment of the present invention is scattered and shot in an area form.
FIG. 3 is a conceptual view showing a state in which the shooting result according to FIG. 2 is collapsed.
4 is a block diagram of a system for controlling the shooting of a gun in accordance with an embodiment of the present invention.
FIG. 5 is a flowchart illustrating a process for a high-altitude target according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Like reference numerals are used for similar elements in describing each drawing.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. The term "and / or" includes any combination of a plurality of related listed items or any of a plurality of related listed items.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Should not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a system and method for controlling a gun fire for effective counteraction of a target of high-altitude interaction according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

_MAX)와 최대 변화 가능한 가속도(A_MAX)를 산출하는 것이 가능하다. FIG. 1 is a conceptual diagram showing a region in which a target may have a target after the TOF of a shot considering the characteristics of the target according to an embodiment of the present invention. FIG. Referring to FIG. 1, when there is an accelerating target 100, the maximum convergent angular velocity (e.g., the maximum angular velocity) is calculated based on predefined information according to the characteristics of the target 100 (destructor / escort /

_MAX ) and the maximum changeable acceleration (A _MAX ) can be calculated.

In addition, the current starting state (position P / velocity V / acceleration A) of the target 100 can also be measured via the tracer's tracking sensor. Based on this information, the angular velocity can be calculated.

[Equation 1]

Where V is the current velocity of the target and R is the radius of rotation of the target.

_MAX)로 변침시 회전반경(R)을 구할 수 있으며, 이는 다음식과 같다.Using the above equation (1), the maximum angular velocity (V

_MAX ), the radius of rotation (R) at the time of transition can be obtained.

&Quot; (2) "

Applying this to the left and / or right direction, the target left maneuvering limit 170, which is the limit for maneuvering to the left of the target starter shown in FIG. 1, and the target right maneuvering limit, A circle corresponding to the circle 120 can be calculated.

In addition, the moving distance S of the target 100 is expressed by the following equation.

&Quot; (3) "

Using the above Equation (3), the target maximum travel distance circle 160 considering the start of the movable target 100 during the time t (i.e., TOF: Time Of Flight) during which the shot travels to the target location, The target minimum movement distance circle 110 considering the start of the target 100 can be calculated as shown in the following equation.

&Quot; (4) "

&Quot; (5) "

Using the four calculated values (maximum / minimum distance, left / right maneuvering limit), the future target area 180, which is a region where the target exists in the future of the sector shape, is calculated.

Since the computed "future target area" is a relatively large area, it is not efficient to perform firing over this area. However, by displaying the area on the operating screen, it can help the operator to predict where the target may be.

Selecting the "target predicted position" 150 within the "future target area" 180 based on the existing knowledge and the trajectory of the past target, the "target predicted locus" 150, which links the current position of the target with the future predicted position, "(140).

The selected position has a very low hit probability because it is only a specific point in the available area. Therefore, in the present invention, the shot is shot in a circular shot area 130 centered on the target predicted position with an offset of a uniform random distribution.

FIG. 2 is a conceptual diagram showing an example in which a shot is dispersed and shot in the form of a circular area with respect to an ongoing target according to an embodiment of the present invention. Referring to FIG. 2, when the target is fixed, it is possible to respond to the region by randomly shooting the target with a certain radius based on the target. However, as shown in FIG. 2, when the target 100 moves in the direction of the arrow 201, the predicted locus and position of the target 100 are calculated, The shot can be dispersed in the area of the effective range 210 of the target based on the target by shooting with an offset.

It would be most effective if several shots fell on the target 210 at the same time, but because they would fly one by one from the turret, the target would fall one step at a time.

Accordingly, FIG. 2 shows a collision shape when viewed from a fixed position in the sky, and the target detaches at random around the target as the target 100 advances in the direction of arrow 201.

FIG. 3 is a conceptual view showing a state in which the shooting result according to FIG. 2 is collapsed. Referring to FIG. 3, the effective range 210 of the shot is formed in the shooting area 200 in the left, right, up and down directions around the target 100. Of course, this is done with parallax, for example, in the down direction of the target 100 -> right direction of the target -> left direction of the target -> upward direction of the target.

4 is a block diagram of a system for controlling the shooting of a gun in accordance with an embodiment of the present invention. Referring to FIG. 4, the collision-shooting control system includes a tracking sensor 401 for tracking a target 100 to be hit and providing information about the target; Target characteristic information 403 which previously defines and stores characteristics of the target for the tracked target; Calculating a future target area by calculating a target start limit and a distance circle according to the characteristics of the target, calculating a target target area using the target position of the target and the specific target predicted position selected according to the selected target predicted position among the calculated future target areas, A shooting parameter calculation device 400 for calculating a trajectory and calculating a shooting parameter (bogie command) in the form of a uniform random distribution in a circular area around the calculated target predicted trajectory; A gun (470) that fires a gun against the target (100) in accordance with the calculated shooting specification; And the like.

Particularly, the shooting parameter calculation device 400 is characterized in that, when calculating the bouncing command, the continuous bouncing command is predicted and calculated using the offset of the uniform random distribution.

The tracking sensor 401 tracks the current starting state of the target 100 and measures the current position P, velocity V and / or acceleration A, and so on.

The target characteristic information 403 stores information about the target 100 in advance. Therefore, the shooting parameter calculation device 400 takes the target characteristic information corresponding to the target tracked by the tracking sensor 401 from the target characteristic information 403 and uses it.

The shooting parameter calculation device 400 is located between the tracking sensor 401 and the gun 470 and receives the information of the target 100 from the tracking sensor 401 and then outputs the information of the target 100 And calculates a shooting command, calculates a gun command, and transmits the command to the gun 470. FIG.

Therefore, the shooting parameters calculation device 400 is provided with a target start-up limit calculation unit 410 for calculating a target start-up limit according to the "target left start limit" 170 and the "target right start limit" 120, (Maximum / minimum distance, left / right maneuver limit) of the above-mentioned four distances (maximum / minimum distance, left / right maneuver limit) A future target area calculating unit 430 for calculating a sector-shaped "future target area" 180 by using the calculated target area, The target predicted locus is calculated using the selected target target predicted position and the current position of the target, and the uniform predicted locus is uniformly distributed in the circular region around the calculated target predicted locus. In the form of a shooting specification ( And a shooting specification calculation unit 450 for calculating a shooting specification command.

FIG. 5 is a flowchart illustrating a process for a high-altitude target according to an embodiment of the present invention. Referring to FIG. 5, if tracing of the high-altitude target 100 is found, the current target start-up state is tracked and the ballistic calculation is performed to calculate the time and TOF of the shot (steps S500 and S510). These steps are generally the same as in existing systems.

In consideration of the starting characteristics of the target 100, an area in which a future target area may exist after the elapsed time of the burnt is calculated and displayed on the operation number screen. Based on the knowledge of the operation water and the past trajectory of the target on the displayed screen, a specific target prediction position at which the target 100 may exist is selected and a cargo to be launched is selected (steps S520 and S530).

The shooting parameters calculator 400 calculates a target prediction trajectory that can pass through the future predicted position selected by the number of operations since the TOF based on the current position and the target of the target.

There are various kinds of models for this maneuver such as CA (Constant Acceleration), CTR (Constant Turn Rate), Singer, Song model. For a clear understanding of the present invention, the principle of calculating the target prediction trajectory using the CA model, which is considered to be the simplest, will be described.

The position / velocity / acceleration at time k can be expressed as a state vector X (k) as follows.

&Quot; (6) "

The state vector X (k + t) after t time is given by:

&Quot; (7) "

Here, if only the position component is viewed, the following equation can be obtained.

[Equation 8-1]

[Equation 8-2]

This implies that the target will remain at ( x _{k + t} , y _{k + t} ) after time t with the current maneuver maintained.

In step S510, X (k) corresponds to the current (k) target maneuver and t corresponds to the TOF in the "TOF calculation of the current target launch reference trajectory calculation ". The target start state vector (position / velocity / acceleration) of X (k + t) can be obtained by performing the prediction for the TOF time at the current start.

The position indicated by the "target prediction position" 150 shown in Fig. 1 is not the information predicted based on the current start information, but the position selected in the future target area (180 in Fig. 1) It is predicted that the vehicle will be started at this position.

If the state vector at this time is X '(k + t), this information can be calculated through the following process.

Assuming that the acceleration changes only because it is physically impossible for the position or velocity of the ship to change rapidly with time, the current maneuver which is different only in acceleration from X (k + t) can be expressed as X '(k).

&Quot; (9) "

 &Quot; (10) "

Since the state vector after time t can be expressed as above, the position information at this time can be calculated as follows.

&Quot; (11-1) "

&Quot; (11-2) "

If (11-1) is subtracted from (8-1) and (8-2) is subtracted from (11-2), the following can be obtained.

&Quot; (12-1) "

[Equation 12-2]

Here, ( x _{k + t} , y _{k + t} ) is the time since t calculated by the existing start information, and ( x ' _{k + t} , y' _{k + t} )

는 기존 기동정보의 가속도 값이기 때문에 변경된 가속도인

를 제외한 모든 값을 알고 있어서

를 산출가능하다. 이를 통해 운용수가 선택한 위치로 가기 위한 상태벡터 X'(k)가 얻어진다. 시간의 흐름에 따라 X'(k+t)를 계속 산출하면 표적 예측 궤적을 얻을 수 있다.

Is the acceleration value of the existing startup information,

I know all the values except

Can be calculated. This gives a state vector X '(k) to go to the selected location. The target prediction trajectory can be obtained by continuously calculating X '(k + t) according to the passage of time.

Then, the ballistic calculation is performed by calculating a uniform random distribution offset in a shooting region around the target along the target predicted trajectory (Steps S540, S550, S560).

The process of shooting the calculated Offset is repeated by the number of shots to be fired (Steps S570 and S580).

100: target
110: Target minimum travel distance
120: Target right maneuver limit
130: shooting area
140: target prediction trajectory
150: target prediction position
160: Maximum travel distance of target
170: Target left maneuver limit
180: Future target area
400: shooting parameter calculation device
401: Tracking sensor
403: Target characteristic information
410: Target Start Limit Calculator
420: target distance calculating unit
430: Future target area calculating unit
440: Graphic interface section
450: Shooting specification calculation section
470: Gunpo

Claims (15)

A tracking sensor to track the target;
Target characteristic information that previously defines and stores the characteristic of the target for the tracked target;
Calculating a future target area by calculating a target start limit and a target distance circle for the target according to the characteristics of the predefined target and calculating a target target area based on the specific target predicted position selected as the specific target predicted position is selected, And calculating a shooting specification in the form of a uniform random distribution in a circular area around the calculated target prediction trajectory;
A gun that fires a gun against the target in accordance with a calculated shooting specification;
Wherein the at least one of the at least two of the at least one of the at least two of the at least one of the at least two of the at least one at least one of the at least one of the at least one of the at least two of the at least one at least one,
The method according to claim 1,
Wherein the shooting specification calculation device comprises:
A target activation limit calculation unit for calculating the target activation limit;
A distance calculation unit for calculating a target distance circle;
A future target area calculation unit for calculating a future target area using the calculated target distance circle and the target start limit;
A graphic interface unit for displaying the calculated future target area to the operator or receiving a specific target prediction position; And
A shooting specification calculation unit for calculating the shooting specification; Wherein the at least one of the at least two of the at least one of the at least two of the at least one of the at least two of the at least one at least one of the at least one of the at least one of the at least two of the at least one at least one,
3. The method of claim 2,
Characterized in that the future target area is a sector shape, and wherein the future target area is a sector shape.
The method according to claim 1,
Wherein the future target area is a region in which a target may exist after the calculated time of the shot (TOF) by performing the ballistics calculation to the target.
The method according to claim 1,
The target start limit is the maximum turnaround angular velocity (

_MAX ) and the maximum changeable acceleration (A _MAX ).
6. The method of claim 5,
The maximum angular velocity may be expressed as:

(Where V is the velocity of the target and R is the radius of rotation). ≪ RTI ID = 0.0 > 8. < / RTI >
The method according to claim 6,
The target maximum distance traveled during the target distance circle is given by:

And the target minimum travel distance of the target distance circle is calculated by:

Wherein the at least one of the at least one of the at least two of the at least one of the at least two of the at least one at least one of the at least two of the at least one at least one of the at least two of the at least one of the at least two. The method according to claim 1,
Characterized in that the number of shooting cargoes among the shooting specifications is the number inputted by the number of operations.
Tracking the target;
Calculating a future target area by calculating a target maneuvering limit and a target distance circle for the target according to characteristics of a predefined target for the tracked target;
Displaying the computed future target area;
Calculating a target predicted trajectory using the selected target predicted position and the current position of the target as the specific target predicted position is selected from among the displayed future target regions;
Calculating a shooting specification in the form of a uniform random distribution in a circular area around the calculated target prediction trajectory; And
Firing a gun against the target in accordance with a calculated shooting specification;
Wherein the method comprises the steps of: 10. The method of claim 9,
Wherein the future target area is a sector shape. ≪ RTI ID = 0.0 > 8. < / RTI >
10. The method of claim 9,
Wherein the future target area is a region in which the target may exist after a time and a TOF of the shot calculated by performing the ballistics calculation to the target.
10. The method of claim 9,
The target start limit is the maximum turnaround angular velocity (

_MAX ) and the maximum changeable acceleration (A _MAX ). ≪ Desc / Clms Page number 25 >
13. The method of claim 12,
The maximum angular velocity may be expressed as:

(Where V is the velocity of the target and R is the radius of rotation). ≪ RTI ID = 0.0 > 8. < / RTI >
14. The method of claim 13,
The target maximum distance traveled during the target distance circle is given by:

And the target minimum travel distance of the target distance circle is calculated by:

Wherein the at least one of the at least two of the at least two of the at least two of the at least one of the at least two of the at least one of the at least one of the at least two of the at least one of the at least two of the at least two.
10. The method of claim 9,
Characterized in that the number of shooting guns among the shooting specifications is the number inputted by the number of operations.

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