RU131699U1 - DEVICE FOR INCREASING THE ACCURACY OF USEFUL LOAD OF UNMANNED AIRCRAFT AT THE POINT OF ITS AIM - Google Patents

Abstract

A device for increasing the accuracy of the payload of an unmanned aerial vehicle falling into its aiming point, containing flight task input and storage units, a driver for the control command for turning on the corrective braking engine of the unmanned aerial vehicle, an arithmetic unit for multiplying and summing, and a block for generating a time correction for the control command for turning on the correcting braking motor characterized in that it contains blocks for measuring the height difference of two control points of the tracks flight directions and their averaging, inputs of the time correction block of the control command for turning on the corrective braking motor are connected to the output of the arithmetic unit of multiplication and summing and to the output of the memory cell of the flight task storage unit of the estimated time for turning on the correcting braking motor, the output of the block of generating the temporary correction for turning on the correcting braking motor connected to the control input of the shaper of the control command for turning on the corrective braking motor a helicopter, the outputs of which are connected via series-connected blocks of measuring the height difference of two control points of the flight path and their averaging to the control input of the arithmetic unit of multiplication and summation, the inputs of which are connected to the memory cells of the flight task storage unit of the partial derivatives of the corrective engine start time deceleration along the height of the flight path, according to the coordinate of the center of mass, the speed of the center of mass and the time

Description

The utility model relates to the field of autonomous inertial control systems for unmanned aerial vehicles and can be used to increase the accuracy of the payload (fuel reserves, equipment, etc.) of an unmanned aerial vehicle at its aiming point, for example, an unmanned orbiting space station.

A device for increasing the accuracy of the payload of an unmanned aerial vehicle to its aiming point is known, in which the onboard autonomous inertial control system comprises a complex of command inertial measuring devices, an onboard digital computing unit, matching and converting blocks, devices for generating steering commands for propulsion systems and pyrotechnic ones means, power sources and on-board cable network [1]. At the same time, to ensure the necessary accuracy of the payload of an unmanned aerial vehicle falling into its aiming point and to increase the reliability of its onboard autonomous inertial control system, hardware-functional and software-algorithmic redundancy was used.

A disadvantage of the known device is that when the steps of an unmanned aerial vehicle are separated, time intervals are formed during which the thrust vector parameters (module and direction) are not controlled by the onboard autonomous inertial control system, which leads to a decrease in the accuracy of the unmanned aerial vehicle’s payload reaching the aiming point apparatus.

Closest to the claimed known technical solution as a prototype is a device for improving the accuracy of the delivery of the payload of an unmanned aerial vehicle, in particular, a ballistic missile, to the point of start of its autonomous flight, containing input and storage units for the flight mission, a command command shaper for activating the corrective braking engine an unmanned aerial vehicle, an arithmetic unit for multiplying and summing, and a unit for generating a temporary correction of control commands turning on the corrective braking engine, in addition, the known device contains an onboard measuring and computing complex for stabilizing the flight of an unmanned aerial vehicle at all points of the active section of its flight path, programmed pitch turning, turning engines on and off, dividing and resetting the unmanned aircraft, phase coordinate meter, calculator of partial derivatives of flight path parameters, steam storage unit etrov flight path and their partial derivatives [2], which improves the accuracy of the delivery of the payload unmanned aerial vehicle to the point of further autonomous flight of a ballistic trajectory.

The disadvantage of the prototype is that it does not fully ensure the accuracy of the payload of the unmanned aerial vehicle at its aiming point, since the on-board computer system of the autonomous inertial control system does not take into account anomalies of gravity. The calculations [1, pp. 214-215] show that the current disturbances on the unmanned aerial vehicle in the active and passive sections of its flight path, caused by anomalies of gravitational forces, can lead to a deviation of the hit point of the unmanned aerial vehicle’s payload from the aiming range in range ΔL≈250 m and side ΔZ≈20 m when flying at distances of up to 8000 km and ΔL≈750 m and ΔZ≈100 m when flying at distances of up to 15000 km.

The purpose of the utility model (technical result) is to increase the accuracy of the payload of the unmanned aerial vehicle at its aiming point by taking into account anomalies of gravitational forces in advance along the projection of the flight path of the unmanned aerial vehicle onto the earth's surface on the active and predicted passive sections of its flight and due to automatic tracking the flight altitude of the unmanned aerial vehicle in the active section of the trajectory of its movement.

The essence of the utility model is that, in addition to the well-known and general distinguishing features, namely: input and storage units for the flight mission, the shaper of the control command for turning on the corrective braking engine of the unmanned aerial vehicle, the arithmetic unit for multiplying and summing, and the block for generating the time correction of the control command for switching on corrective braking engine, the proposed device to improve the accuracy of getting the payload of an unmanned aerial vehicle to a point its aiming additionally contains blocks for measuring the height difference of the two control points of the flight path and their averaging, the inputs of the block for generating the time correction of the control command for turning on the corrective braking engine are connected to the output of the arithmetic unit of multiplication and summing, and to the output of the memory cell of the storage unit for the flight task of the estimated turn on time of the correcting engine braking, the output of the block generating a time correction for turning on the corrective braking motor is connected to the control the input of the shaper of the control command for turning on the corrective braking engine of the unmanned aerial vehicle, the outputs of which are connected via series-connected blocks of measuring the height difference of the two control points of the flight path and their averaging to the control input of the arithmetic unit of multiplication and summation, the inputs of which are connected to the outputs of the memory cells of the block storing the flight task of the partial derivatives of the start time of the corrective braking motor along the height of the tray flight paths, according to the coordinate of the center of mass movement, the speed of the center of mass movement and the time it takes for the main command to turn on the march brake engines, as well as the memory locations of the flight storage unit of the deviation of the kinematic parameter of the center of mass movement from the calculated one, the deviation of the kinematic velocity parameter center of mass from the calculated one, deviations of the height of the flight path from the calculated one and deviation of the time for the development of the command to turn on the main engines from the calculated one, Exit other memory cells storing unit flight mission two control samples flight time connected to the input of the control command enable corrective braking the motor, outputs a memory storage unit cells flight mission two control samples flight altitude connected to the control inputs altitude difference measurement unit of the two control points of the flight path.

New in the utility model is that the device for increasing the accuracy of the payload of the unmanned aerial vehicle to its aiming point contains blocks for measuring the height difference of the two control points of the flight path and their averaging, the inputs of the block generating the time correction of the control command for turning on the corrective braking engine are connected to the output the arithmetic unit of multiplication and summing and to the output of the memory cell of the storage unit of the flight task of the estimated turn-on time I correct of its braking engine, the output of the block for generating a temporary correction for turning on the corrective braking engine is connected to the control input of the driver of the control command for turning on the correcting braking motor of an unmanned aerial vehicle, the outputs of which are connected via series-connected blocks of measuring the height difference of two control points of the flight path and their averaging to the control the input of the arithmetic unit of multiplication and summation, the inputs of which are connected to the outputs of the cells the memory of the flight task storage unit of the partial derivatives of the start time of the corrective braking engine according to the height of the flight path, the coordinate of the center of mass movement, the speed of the center of mass movement and the time it takes for the control main command to turn on the march brake engines, as well as the memory cell exits of the flight task storage unit deviations of the kinematic parameter of the motion of the center of mass from the calculated deviation of the kinematic parameter of the motion of the center of mass from the calculated, deviation the flight path altitude from the calculated one and the deviation of the time for generating a command to turn on the marching engines from the calculated one, the outputs of other memory cells of the flight task storage unit for two flight time control samples are connected to the inputs of the control command generator of the braking correction engine, the memory cell outputs of the flight task storage unit two control readings of the flight altitude are connected with the control inputs of the unit for measuring the height difference of two control points of the flight path, enhances the accuracy of hitting the payload unmanned aerial vehicle to the point of impact.

The functional diagram of the proposed device to improve the accuracy of the hit payload of an unmanned aerial vehicle at its aiming point is shown in the drawing, where it is indicated:

1 - input block flight mission;

2 - flight task storage unit;

3 - unmanned aerial vehicle (control object) with a corrective braking engine;

4 - shaper control command enable corrective braking engine and the reference time;

5 - unit for measuring the height difference of the two control points of the flight path (radio altimeter);

6 - block averaging the values of the measured height at two control points (block averaging);

7 - arithmetic unit of multiplication and summation;

8 - block generating a temporary amendment of the control command to turn on the corrective braking engine.

In the initial position (static), the outputs of the flight task input block 1 are connected to the corresponding inputs of the flight task storage block 2, the outputs 2.1 and 2.2 of which are connected to the inputs of the shaper 3 of the control command for turning on the corrective braking motor and the reference time, one output of which is connected with the corrective braking motor of an unmanned aerial vehicle 4, the other two outputs of this shaper 3 are connected through blocks for measuring the difference in height 5 and averaging 6 to the control input of the arithmetic block multiplication and summing eye 7, the output of which is connected to one input of block 8 for generating a time correction of the control command for turning on the corrective braking engine, the other input of block 8 is connected to output 2.13 of the flight task storage unit 2. The output of block 8 is connected to the control input of the driver 3 of the control command corrective engine braking.

The proposed device to improve the accuracy of the hit payload of an unmanned aerial vehicle at its aiming point works as follows.

To compensate for the negative variations (anomalies) of gravitational forces,

, формируемого на выходе арифметического блока умножения и суммирования 7, от расчетного

, хранимого, в свою очередь, в ячейке памяти 2.13 блока хранения полетного задания 2, определяется с помощью выражения:mainly of the Earth, it is proposed to shift the timing of turning on the corrective brake motor of the unmanned aerial vehicle 4. Moreover, the deviation of the required timing of turning on the corrective brake motor of the unmanned aerial vehicle 4

generated at the output of the arithmetic unit of multiplication and summation 7, from the calculated

stored, in turn, in the memory cell 2.13 of the storage block of flight mission 2, is determined using the expression:

in the arithmetic unit of multiplication and summation 7,

- частная производная функции времени включения корректирующегоWhere

- the partial derivative of the function of the time of inclusion of the corrective

engine braking in flight altitude of unmanned aerial vehicle 4, stored in cell 2.5 of the memory of the storage unit of flight mission 2;

- осредненное по двум контрольным точкам отклонение высоты полета беспилотного летательного аппарата 4, обусловленное вариаций гравитационного поля Земли, которое хранится в ячейке 2.11 памяти блока хранения полетного задания 2;

- averaged over two control points, the deviation of the flight altitude of the unmanned aerial vehicle 4, due to variations in the gravitational field of the Earth, which is stored in cell 2.11 of the memory of the storage unit of flight mission 2;

и

частные производные функции времени включения корректирующего двигателя торможения по координате и по скорости движения центра масс беспилотного летательного аппарата 4 соответственно, которые хранятся в ячейках 2.6 и 2.7 памяти блока хранения полетного задания 2;

and

partial derivatives of the starting time of the corrective braking engine with respect to the coordinate and speed of the center of mass of the unmanned aerial vehicle 4, respectively, which are stored in cells 2.6 and 2.7 of the memory of the storage unit for flight mission 2;

и

- отклонения кинематических параметров движения центра массы беспилотного летательного аппарата 4 и его скорости от расчетных значений на момент выдачи главной команды включения тормозной маршевой двигательной установки, которые занесены в ячейки памяти 2.9 и 2.10 блока хранения полетного задания 2;

and

- deviations of the kinematic parameters of the motion of the center of mass of the unmanned aerial vehicle 4 and its speed from the calculated values at the time of issuing the main command to turn on the brake marching propulsion system, which are recorded in memory cells 2.9 and 2.10 of the storage unit for flight mission 2;

- частная производная функции времени включения корректирующего двигателя торможения беспилотного летательного аппарата 4 по времени выдачи управляющей главной команды, хранимая в ячейке памяти 2.8 блока хранения полетного задания 2;

- a partial derivative of the ON time of the corrective braking engine of the unmanned aerial vehicle 4 with respect to the time of issuing the control main command, stored in memory cell 2.8 of the storage unit for flight mission 2;

- отклонение времени выдачи управляющей главной команды на включение маршевого тормозного двигателя от расчетного значения, хранимое в ячейке памяти 2.12 блока хранения полетного задания 2.

- deviation of the time of issuing the control main command to turn on the cruise brake engine from the calculated value stored in memory cell 2.12 of the storage block of flight mission 2.

The terms of expression (1) are determined using the following dependencies:

- среднее арифметическое значение отклонения фактической высоты полета от расчетной по двум контрольным измерениям t_изм1 и _изм2, которые занесены в ячейки памяти 2.1 и 2.2 блока хранения полетного задания 2 и которое формируется на выходе блока осреднения 6;Where

- the arithmetic mean of the deviation of the actual flight altitude from the calculated one according to two control measurements t _ISM1 and _ISM2 , which are recorded in the memory cells 2.1 and 2.2 of the storage unit for flight mission 2 and which is formed at the output of the averaging unit 6;

и

- отклонения фактических высот полета беспилотного летательного

and

- deviations of the actual flight altitude of an unmanned aerial vehicle

apparatus 4 from the calculated in the first and second control points t _ISM1 and _ISM2, respectively, which are formed at the outputs of the unit 5 for measuring the height difference of these two control points of the flight path t _ISM1 and t _ISM2 (at the outputs of the radio altimeter) when data about the values of the calculated altitude in these control points t _ISM1 and t _ISM2 2 from the output of the memory cells 2.3 and 2.4 of the storage unit of flight task 2;

ΔH _gk - deviation of the actual flight altitude, at which a control command was issued to turn on the main braking engine from the calculated altitude;

H _k and H _kp - the actual height of the end of the active section of the trajectory and its estimated height, respectively;

t and t _{rcr rk} - the actual and estimated values of the time issuing a control command to switch the cruise engine braking respectively;

Thus, the control command to turn on the corrective braking engine of the unmanned aerial vehicle 4 will be formed taking into account the values of equations (2) ... (9) in accordance with the following expression

at the output of block 8 of the generation of a temporary correction of the control command to turn on the corrective braking motor.

на выходе арифметического блока умножения и суммирования 7 определяется в соответствии с выражением (1).The determination of all partial derivatives stored in memory cells 2.5 ... 2.8 of flight task storage unit 2 is carried out in advance by integrating a complete system of nonlinear differential equations on Earth for the entire range of possible deviations of the kinematic motion parameters of the unmanned aerial vehicle 4 in conditions of disturbed flight both on active and and in the passive sections of the trajectory of its movement. The choice of the necessary values of the partial derivatives in the memory cells 2.5 ... 2.8 to form the deviation Δ

at the output of the arithmetic unit of multiplication and summation 7 is determined in accordance with expression (1).

The industrial feasibility of the utility model is justified by the fact that it uses the nodes and blocks known in the analogue and prototype for their intended purpose. The applicant organization has developed a device model to improve the accuracy of the payload of an unmanned aerial vehicle entering the aiming point in 2012.

The positive effect of using the utility model is that it improves by at least 10 ... 15% the accuracy of the payload (fuel reserves, equipment, etc.) of the unmanned aerial vehicle 4 at its aiming point, for example, an unmanned space orbital station, taking into account anomalies of gravitational forces along the projection of the flight path of the unmanned aerial vehicle 4 on the earth's surface in the active and predicted passive sections of its movement and due to automatic lezhivaniya flight altitude unmanned aerial vehicle 4 on the active portion of the trajectory of its movement using radio altimeter 5.

Information sources:

1. The accuracy of intercontinental ballistic missiles / L.I. Volkov, A.I. Prokudin and others; Ed. L.I. Volkova. - M.: Mechanical Engineering, 1996. - 304 s, p.123-127, (analogue).

2. Patent No. 116990 RU for utility model “Device for improving the accuracy of delivery of a ballistic missile payload to the point of its autonomous flight, IPC F42B 10/00, priority January 24, 2012, authors: Alatortsev II, Alatortsev AI, Smirnov D.V., patent holder: MOU "Institute of Engineering Physics", (prototype).

Claims (1)

A device for improving the accuracy of getting the payload of an unmanned aerial vehicle to its aiming point, containing input and storage units for a flight mission, a shaper of a control command for turning on a corrective braking engine of an unmanned aerial vehicle, an arithmetic unit for multiplying and summing, and a block for generating a time correction for a control command for turning on a corrective braking motor characterized in that it contains blocks for measuring the height difference of two control points of the tracks flight directions and their averaging, inputs of the time correction block of the control command for turning on the corrective braking motor are connected to the output of the arithmetic unit of multiplication and summing and to the output of the memory cell of the flight task storage unit of the estimated time for turning on the correcting braking motor, the output of the block of generating the temporary correction for turning on the correcting braking motor connected to the control input of the shaper of the control command for turning on the corrective braking motor a helicopter, the outputs of which are connected via series-connected blocks of measuring the height difference of two control points of the flight path and their averaging to the control input of the arithmetic unit of multiplication and summation, the inputs of which are connected to the memory cells of the flight task storage unit of the partial derivatives of the corrective engine start time deceleration along the height of the flight path, according to the coordinate of the center of mass, the speed of the center of mass and the time The work of the controlling main team to turn on the marching brake engines, as well as to the memory cells of the flight storage unit of the deviation of the kinematic parameter of the center of mass movement from the calculated one, the deviation of the kinematic parameter of the center of mass velocity from the calculated one, deviation of the flight path height from the calculated one, and deviation of the command generation time to turn on the marching engines from the calculated one, the outputs of other memory cells of the flight task storage unit for two control half-time samples that are connected to the input of the control command enable corrective braking motor block outputs of memory cells storing two control flight mission flight altitude readings associated with the control inputs of the difference measuring unit heights two control points of the flight path.

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