KR20160070573A - Real-time prediction method of impact point of guided missile - Google Patents

Abstract

The present invention relates to a method to predict an impact point of a guided missile in real time. The method includes: a step of deriving a flight distance in consideration of the trace of a guided missile when inputting a flight condition; a step of analytically deriving a flight distance in consideration of a flight speed of the guided missile by linearizing the flight speed of the guided missile by section and integrating the speed for a residual flight time; a step of deriving an impact point interaction formula by combining the flight distance, in consideration of the flight speed, and the flight distance in consideration of the trace of the guided missile; a step of calculating a value of the derived impact point interaction formula; and a step of predicting an expected impact point and a residual flight time by using the calculated value of the impact point interaction formula. Therefore, the present invention is capable of enabling effective midflight.

Description

REAL-TIME PREDICTION METHOD OF IMPACTION POINT OF GUIDED MISSILE

The present invention relates to a method for real-time prediction of an intercept point of a missile capable of predicting an impact point of a missile in real time.

In general, the missile is a weapon that is guided by the guiding device to the target point. In order to improve the interception performance, it is necessary to accurately predict the impact point (IP).

Conventionally, repetitive calculation methods have been used as a technique for predicting the target intercept point (IP) of a guided missile. Since this method is based on iterative calculation, it takes a lot of time to find the exact solution.

In addition, the conventional method can not guarantee convergence within a finite number of iterations, resulting in a large prediction error. Therefore, the necessity of real - time and accurate real - time interceptor location prediction method based on analytical method has emerged.

The purpose of this half is to provide an analytical method based interceptor location prediction method that guarantees real - time and accuracy.

Another object of the present invention is to calculate and fly an intercept prediction point in the early / mid-stage induction stage for smooth end homing.

According to another aspect of the present invention, there is provided a method for real-time prediction of an intercept point of a guided missile in accordance with an embodiment of the present invention, comprising the steps of: The step of linearizing the flight speed of the missile and integrating it during the remaining flight time to analytically derive the flight distance considering the flight speed of the missile; Deriving an intercept point relationship based on the derived distance in consideration of the trajectory of the guided missile and the flight distance in consideration of the speed of the missile; Calculating a solution of the derived intercept point relationship; And estimating an intercept prediction point and a residual flight time in real time using the calculated solution of the intercept point relationship.

The interceptor point relation is a cubic equation for the non-dimensional intercept point.

The step of calculating the solution of the intercept point relationship may include the steps of: determining whether the speed of the guided vehicle is constant; And if the velocity of the missile is constant, converting the intercept point relationship of the cubic equation into a quadratic equation and finding the solution of the relational expression of the intercept point using the root formula.

Calculating the solution of the interceptor point relational equation includes calculating a discriminant of the intercept point relation of the cubic equation when the velocity of the guided vehicle is not constant; And calculating one solution or multiple solutions according to the size of the calculated discrimination equation; Selecting a solution satisfying the multi-solution selection logic in the solution solution; And finally determining a solution satisfying a predetermined evaluation index from the selected solution as a solution to the intercept point.

The multi-solution selection logic may include a condition that the intercept point is located between the guided missile and the target, the flying distance considering the missile flying velocity is 0 or more, and the flying distance considering the flying speed of the missile is similar to the flying distance considering the flying trajectory .

And calculating a route point of the guided vehicle using the obtained solution.

In the present invention, when a flight condition is given, a formula for predicting an intercept point can be derived immediately without having to perform a simulation, and then an intercept prediction point is calculated in real time at a mid / mid- There is an effective mid-flight effect to improve performance.

In addition, the present invention realizes an effective mid-flight flight for improving the target interception performance in the end-homing step by implementing an intercept point prediction method which is very easy to real-time realization in a missile loading computer.

FIG. 1 is a graph showing the induction geometry of a guided vehicle; FIG.
Fig. 2 is a graph showing a guide shaft speed graph. Fig.
3 is a flowchart showing an intercept point real-time prediction method according to the present invention.

The present invention provides a method for predicting a target intercept point (IP) of a missile, and a real-time intercept point prediction method based on an analytical method in order to overcome the difficulty of the method based on the conventional iterative calculation. That is, according to the present invention, when a flight condition is given, a formula for predicting an intercept point can be immediately derived without performing a simulation, and then the calculated formula can be implemented in a mounted computer, and an intercept prediction point can be calculated in real- Algorithm.

Generally, it is important to calculate the predicted point of interception during the early / mid-stage induction phase so that guided missiles fly toward the point. To do this, it is necessary to accurately predict the intercept point from the beginning of the launch.

Several assumptions are needed to elucidate the interpretation of the intercept point.

First, the target is maneuvered in the same plane as the guided car, flying at the uniform height and constant velocity toward the guided firing point (Fig. 1).

Second, the velocity profile of the missile is divided into a boosting stage and a gliding stage, and is considered to change linearly with respect to time at each stage (FIG. 2).

Third, the guided missiles fly in the third - order polynomial trajectory in the mid - stage induction phase and fly straight at the end homing stage.

Under this assumption, the present invention is based on the assumption that the interpretation solution of the flight distance in consideration of the flight path of the missile is integrated with the velocity diagram of the missile, Derive a cubic equation for the point. Then, the solution of the cubic equation is derived, and the interpretation solution for the intercept point is obtained. Then, it is implemented in the onboard computer to calculate the intercept expectation point and the remaining flight time in real time.

Hereinafter, a method for real-time prediction of an intercept point of a missile according to an embodiment of the present invention will be described in detail.

1. Flight distance considering missile flight trajectory

1 is a graph showing the induction geometry of a guided vehicle.

In FIG. 1, assuming that the flight trajectory is a third-order polynomial shape of the distance in the midway induction section flying to the point WP, the curve distance S _{1 in} the middle stage induction phase can be expressed by the following Equation 1:

[Equation 1]

는 유도탄 기준 요격지점(IP)의 수평축 위치이고, d는 요격지점 (IP)과 경로점(WP)의 상대거리이다. here,

Is the horizontal axis position of the guided missile reference intercept point (IP), and d is the relative distance between the intercept point (IP) and the route point (WP).

이다.

to be.

는 현 시점의 유도탄의 비행 경로각,

은 유도탄의 경로점 통과각,

는 현 시점의 표적 기준 유도탄의 수직축 위치이다. here,

Is the flight path angle of the present guided missile,

Is the path passing angle of the missile,

Is the vertical axis position of the target guided missile at the present time.

Therefore, the flying distance S _R to the intercepting point IP can be expressed by the following equation (2).

&Quot; (2) "

2. Flight distance considering missile flight speed

2 is a graph showing a speed diagram of a guided vehicle.

Referring to FIG. 2, the speed diagram of the missile is divided into a boosting stage and a gliding stage.

&Quot; (3) "

는 부스팅 단계 종료시점,

는 부스팅 단계 종료시점의 유도탄 속력으로

이며,

는 부스팅 단계의 평균 가속도이고,

는 글라이딩 단계의 평균 가속도이다. . here

At the end of the boosting phase,

Is the speed of the missile at the end of the boosting phase

Lt;

Is the average acceleration of the boosting phase,

Is the average acceleration of the gliding phase. .

Therefore, when the remaining flight time from the current point to the intercept point is t _go , the flying distance (S _L ), which takes the missile speed into account, ie, the missile flying speed, is expressed by the following equation (4).

&Quot; (4) "

는 현시점의 유도탄 속력이고, here,

Is the current speed of the touring car,

이다.

to be.

3. Calculate remaining flight time

In FIG. 1, the time taken for the missile to intercept the target is equal to the time required for the target to travel to the intercept point, so that the remaining flight time t _go can be expressed by Equation (5).

&Quot; (5) "

4. Relation on Intercept Point

)에 대한 3차 방정식으로 표현된다.And will be the same mathematical fly Considering missile flight trajectory of the formula (2) Flight distance (S _L) taking into account the missile flight speed of (S _R) and the equation (4), and the remaining flight time (t _go) of the equation (4) is Equation 5, the equation that satisfies all of them is expressed by the following equation (6)

) Is expressed by a cubic equation.

&Quot; (6) "

here,

이고,

ego,

이며,

Lt;

이다.

to be.

5. A description of the intercept point

5-1. If the speed of the missile is constant

이므로 수학식 6은 수학식 7과 같이 나타낼 수 있다. Constant speed of missile

Equation (6) can be expressed by Equation (7).

&Quot; (7) "

here,

이다.

to be.

Therefore, from the root equation of the quadratic equation, the solution can be obtained as follows.

인 경우①

If

인 경우

이어야 하므로 그의 해인 무차원 요격지점(

)은 다음의 수학식 8과 같다.In this case, there are two exoskeletons

If

So it's his year, the dimensionless intercept point (

) Is expressed by the following equation (8).

&Quot; (8) "

인 경우②

If

)은 다음의 수학식 9와 같다.In this case, a non-dimensional intercept point (

) ≪ / RTI >

&Quot; (9) "

③ Other cases

In this case, since there is no solution, the actual implementation is replaced with a result that assumes that the missile will fly straight to the intercept point (IP) as shown in Equation 10 below.

&Quot; (10) "

5-2. When the speed of the missile is changed

이므로 수학식 6을 다음의 수학식 11과 같이 다시 쓸 수 있다.When the speed of the missile is changed

The equation (6) can be rewritten as the following equation (11).

&Quot; (11) "

here,

이다.

to be.

Since the roots of the cubic equation appear differently in the shape of the roots according to the discriminant, first, the discriminant is calculated according to the following equation (12).

&Quot; (12) "

here,

이다.

to be.

Therefore, the solution is as follows.

① When D> 0

&Quot; (13) "

이다.here,

to be.

② When D = 0

In this case, since there are three real roots including the root, appropriate values are selected according to the multi-solution selection logic of the two roots shown in Equation (14) below.

&Quot; (14) "

③ When D <0

In this case, since there are three different real roots, an appropriate value is selected according to the multi-solution selection logic among the three roots shown in Equation (15) below.

&Quot; (15) &quot;

here,

이다.

to be.

5-3. Multipath selection logic

In Equation (11), which is a cubic equation, when the discriminant equation is 0 or less, a solution satisfying the following physical relation is selected from the multiplexed solution.

① The intercept point (IP) is located between the missile and the target. In other words,

② Flight distance ( _SL ) considering missile flying speed is more than zero. In other words,

이다.here,

to be.

(3) The flying distance (S _L ) considering the flight speed of the missile is similar to the flying distance (S _R ) considering the flight trajectory. In other words,

이고,

는 양의 작은 값이다. here,

ego,

Is a small positive value.

Among the values satisfying all of the conditions (1) to (3), a solution satisfying the evaluation index as shown in the following equation (16) is selected.

&Quot; (16) &quot;

는 유도탄이 등속비행(

)인 경우의 해로서, 수학식 8~10에 의해 결정된 값이다.here,

(A)

), Which is a value determined by Equations (8) to (10).

Accordingly, the present invention applies the interpretation solution obtained above to the on-board computer to calculate the intercept prediction point and the remaining flight time in real time as follows.

6. Prediction of Intercept Point (IP) and Path Point (WP)

)을 이용하여 다음의 수학식 17과 같이 요격예상지점을 산출한다.Non-dimensional intercept point (

) To calculate an intercept prediction point as shown in the following Equation (17).

&Quot; (17) &quot;

은 유도탄의 수평축 절대좌표,

는 표적의 수평 및 수직 절대좌표이다. 따라서, 경로점(WP)의 위치는 다음의 수학식 18과 같다.here,

The horizontal axis absolute coordinates of the missile,

Is the horizontal and vertical absolute coordinates of the target. Therefore, the position of the path point WP is expressed by the following equation (18).

&Quot; (18) &quot;

7. Predict remaining flight time

Using the equation (5) easier, but can be used to calculate the remaining time of flight (t _go), the target speed is 0, the calculation is only possible by using the equation (4) the remaining flight time (t _go), and then equation (19) of the case .

&Quot; (19) &quot;

이다.here,

to be.

3 is a flowchart illustrating a method for real-time prediction of an intercept point of a missile according to an embodiment of the present invention.

3, when the flight condition (missile and target information) is inputted (S100), the flight distance considering the flight path of the missile is calculated (S110) ), The flight speed of the missile is linearized and integrated during the remaining flight time to calculate the flight distance considering the flight speed of the missile (S120).

Then, a relational expression of an intercept point is derived as shown in Equation (6) by taking the flight distance in consideration of the derived trajectory of the guided missile and the flight distance of the missile in consideration of the flight speed of the missile (S130).

Then, the solution of the relational expression of the derived intercept point is obtained to obtain the interpretation solution for the intercept point. The solution of the relational expression of the intercept point varies depending on the case where the speed of the guided car is constant (constant speed).

Accordingly, it is checked whether the velocity of the missile is constant (S140). If the velocity is not constant, a final solution is determined on the basis of the multiple solution selection logic after obtaining the multiple solution of the interceptor point relationship which is the cubic equation (S150, S160 ). On the other hand, if the velocity is constant, a solution of the intercept point relationship transformed into the quadratic equation is calculated (S170).

Once the solution of the intercept point relation is obtained, the intercept prediction point, the remaining flight time and the route point are calculated in real time using the corresponding solution (S180) (Equations 17 to 19).

As described above, according to the present invention, when a flight condition is given, a formula for predicting an intercept point can be immediately derived without performing a simulation, and then an intercept prediction point is calculated in real time at a mid / mid- Effective mid-flight flight is possible to improve target interception performance at the homing stage.

The method of real-time prediction of the intercepting point of the guided missiles described above can be applied to the construction and method of the embodiments described above in a limited manner, but the embodiments can be applied to all or some of the embodiments As shown in FIG.

Claims (9)

Deriving a flight distance in consideration of the flight path of the missile when entering the flight condition;
The step of linearizing the flight speed of the missile and integrating it during the remaining flight time to analytically derive the flight distance considering the flight speed of the missile;
Deriving an intercept point relationship based on the derived distance in consideration of the trajectory of the guided missile and the flight distance in consideration of the speed of the missile;
Calculating a solution of the derived intercept point relationship; And
And estimating an intercept prediction point and a residual flight time in real time using the solution of the calculated intercept point relationship. The method according to claim 1, wherein the relational expression of the intercept point
As a cubic equation for a non-dimensional intercept point,
Wherein the flying distance in consideration of the flight path in consideration of the flight path of the missile and the flight speed of the missile are the same and the time required for the missile to intercept the target and the time for the target to travel to the interception point are the same Real time prediction method of intercept point. 2. The method of claim 1, wherein the step of calculating the solution of the intercept point relationship
Determining whether the speed of the guided vehicle is constant; And
And a step of finding a solution of a relational expression of an intercept point by using a formula of a root after transforming an intercept point relationship of a cubic equation into a quadratic equation when the speed of the guided vehicle is constant, Prediction method. 4. The method of claim 3, wherein the step of obtaining the solution of the intercept point relationship
Calculating a discriminant of the intercept point relation of the cubic equation when the speed of the guided vehicle is not constant; And
And calculating one solution or multiple solution according to the calculated size of the discrimination equation. 5. The method of claim 4, further comprising: selecting a solution satisfying the multi-solution selection logic in the solution solution; And
And finally determining a solution satisfying a predetermined evaluation index in the selected sea as a solution for an intercept point. 6. The method of claim 5,
An intercept point is located between the missile and the target,
The flying distance considering the missile flying speed is more than 0,
Wherein the estimated distance includes a condition that the distance of the missile in consideration of the speed of the missile is similar to the distance of the missile in consideration of the trajectory of the missile. The method according to claim 1,

,

)silver
And calculating by using the following equation.

here,

Interpreted the obtained intercept point,

The horizontal axis absolute coordinates of the missile,

Is the absolute coordinate of the target. The method of claim 1,
And calculating by using the following equation.

here,

ego,

,

The speed of the current missile,

The average acceleration of the missile in the gliding phase,

Is the horizontal axis position of the target. 2. The method according to claim 1, further comprising: calculating a route point of the guided car using the obtained solution,

,

) Is calculated by the following equation.

here,

,

Is the absolute position of the intercept point, d is the relative distance between the intercept point and the path point,

Is the path passing angle of the missile.

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