RU16400U1 - SHIP missile guidance system - Google Patents

Abstract

A ship’s guidance system for a missile with an onboard radiation source, comprising a sight, a guidance unit that generates guidance commands depending on the deviation of the missile relative to the aiming line, a launcher and a device for transmitting guidance to a missile, characterized in that a guidance command generation unit is introduced into it at the initial section of the flight path of the rocket, a timer, a switch for connecting, according to the signals of the timer, the inputs of the device for transmitting missile guidance commands to the outputs of the guidance block or guidance commands at the initial portion of the rocket’s flight path and missile launch sensor, the unit for generating guidance commands at the initial portion of the rocket’s flight path connected to the outputs of the angular position and angular velocity sensors of the aiming line in two mutually orthogonal planes, the first and second inputs of the switch connected to the guidance unit, its third and fourth inputs are connected to the guidance command generation unit in the initial portion of the rocket’s flight path, and the outputs are connected to In order to transmit missile guidance commands, the missile descent sensor from the launcher is connected via a timer to the fifth input of the switch.

Description

SHIP missile guidance system

The proposal relates to missile guidance systems and can be used to guide missiles launched from sea carriers, for example, from boats.

A known missile guidance system according to patent N 3868883 СНА, IPC F42B 15/04, comprising an aiming device, a launcher, tracking and missile control devices. When using this system for guiding missiles launched from naval carriers of guided missile systems, the launch of missiles to the aiming line is delayed. This is due to the fact that due to starting disturbances caused by carrier roll, the angular deviations of the rocket falling into the field of view of the tracking device relative to its optical axis increase, which leads to an increase in the time and range of the launch of the rocket on the aiming line under the control commands generated rocket control device.

A known missile automatic guidance system according to patent N 2148656, IPC F41G 7/00, France. This system, selected for the prototype, contains an optical sight, a guidance unit that generates guidance commands depending on the deviation of the rocket relative to the aiming line, a launcher, a device for transmitting guidance commands to a rocket and a rocket with a source of pulsed radiated energy in the direction opposite to its flight direction.

To ensure the fundamental possibility of guiding the rocket using this system, the rocket after launch must necessarily fall into the field of view of the guidance unit, the optical axis of which, like the optical axis of the sight, is aimed at the target. Therefore, the launcher with which the rocket is flying must be oriented in a certain way in the direction of the line of sight (the optical axis of the sight through which the operator observes the target). The range of permissible deviations of the axis of the launcher from the direction of the aiming line is not wide and is determined by the limited field of view of the telescope of the guidance unit and the relative positions of the launcher and the sight.

Guiding the missile according to the commands formed by the guidance unit does not start from the moment the missile starts, but with a certain delay. This is due to the fact that after the launch of a rocket, a certain time elapses before it is shot (appearing) in the field of view of the guidance unit, which has finite dimensions.

This time can be more or less, depending on whether the guidance unit and the launcher are spaced or combined with each other.

In marine conditions, due to the starting disturbances caused by the rolling of the carrier, the indicated time additionally increases.

There is another reason for the delay in generating guidance commands. She has the following explanation.

To guide the rocket it is necessary to have true information about its deviation relative to the line of sight. Obtaining such information is provided by the tracking system - the coordinator (direction finder) of the guidance unit. However, in the initial part of the missile flight path due to the rapidly changing input signal (the size of the spot detected by the coordinator of the onboard radiation source of the rocket), the errors in determining the coordinates of the rocket are very large, since transient processes take place in the tracking system. Such information about the coordinates of the rocket cannot be used to form guidance commands.

Given the foregoing, it is clear that in order to exclude the formation of erroneous missile guidance commands (and sometimes false in polarity) at the initial portion of its flight path — until the transient processes in the tracking system are completed — guidance commands are generated by the signals of the guidance unit coordinator and transferred to the missile should not be produced.

The time interval between the launch of a rocket and the start of controlling its flight according to the commands formed by the guidance unit is determined by the specific parameters and characteristics of the tracking system and the missile, as well as the relative position (layout) of the guidance unit and the launcher with which the rocket starts. Until the start of control, the rocket flies along a ballistic trajectory.

At the initial, ballistic, portion of the flight, the nature of the trajectory of the rocket relative to the aiming line is determined mainly by the initial perturbations due to the interaction of the launcher and the rocket at launch, the influence of the incoming air flow component perpendicular to the direction of the rocket launch, and the dynamics of the carrier motion at the rocket launch. The smallest dispersion of missiles relative to the aiming line at the initial uncontrolled portion of the flight path, all other things being equal, is ensured when they start in the direction of travel of the carrier. The fact is that in the presence of angular mismatch

- 3

between the direction of movement of the carrier (in particular, the longitudinal axis of the ship) and the direction of the aiming line, the launch rocket will always experience a lateral high-pressure head of the air flow, under the influence of which it turns around on the flow due to its aerodynamic stability. This circumstance leads to an increase in the initial dispersion of missiles. The smallest initial missile dispersion is important both from the point of view of the principle of ensuring the missile is in the field of view of the guidance unit, and from the point of view of the quickest possible launch of the missile onto the optical axis of the guidance unit (4 aiming), which leads to a decrease in the minimum permissible firing range.

The minimum firing range, that is, the minimum range at which the missile hits the target sighted by the operator, is one of the main tactical and technical characteristics of the guided missile system. The minimum firing range depends on the accuracy of the missile firing in the field of view of the guidance unit. That is, the closer to the optical axis of the telescope of the guidance unit (aiming line) the rocket is at the moment of starting control, the shorter the range of its output to the aiming line, and, therefore, the shorter the minimum firing range.

It should be noted one more factor affecting the accuracy of shooting missiles in the field of view of the guidance unit, namely the type of launcher: it is movable or motionless. If the launcher of the guided missile system is mobile, that is, it is constantly oriented with sufficient accuracy in the direction of the aiming line with a lead at a speed of movement of the aiming line, then the accuracy of shooting is much higher than when using a fixed launcher

- 4 installations, for which the indicated accuracy depends on the angular mismatch between the line of sight and the axis of the launcher at the time of launch.

The greater the given angular mismatch, the greater the distance from the aiming line to the rocket at the moment of the start of control by the commands formed by the guidance unit, and the thinner, therefore, the minimum firing range. With large angular mismatches, the missile may simply not fall into the field of view of the guidance unit.

In marine conditions, in the presence of the rolling of the launch vehicle of the guided missile system, especially the keel, airborne and yaw, the accuracy of shooting a missile in the field of view of the guidance unit is significantly reduced. In other words, at the moment the control starts, the missile can be located at considerable distances from the aiming line, which leads to an increase in the minimum firing range, or even to missile loss due to the failure of the guidance.

In this regard, under conditions of sea waves, in the presence of a sufficiently narrow range of permissible (based on the conditions of shooting the missile in the field of view of the guidance unit and ensuring the specified minimum firing range) for launching the missile angular mismatches between the aiming line and the axis of the fixed launcher, there is a problem with the implementation of rocket launch. This is due to objective difficulties in combining the longitudinal axis of the ship, with which the axis of the fixed launcher is rigidly coupled, with the direction to the target with the required accuracy during the waves.

- 5 rifles, as well as expanding the area of angular mismatches acceptable for launching a rocket between the direction of the aiming line and the direction of movement of the carrier ship.

The results of mathematical modeling show that when launching a rocket with both a mobile and a fixed launcher, the set goal can be achieved by organizing missile control at the initial, ballistic section of its flight, by forming guidance commands before starting missile control by commands formed by the guidance block. In this case, it is advisable to use the signals of angular mismatch at the aiming line with the direction of movement of the carrier (the longitudinal axis of the ship) and the signals of the angular velocity cC) of movement of the aiming line.

The algorithm for generating missile guidance commands in the initial section of the trajectory has the form

  i) - n

- b where is the magnitude of the guidance command; / - proportionality coefficients; angular mismatch of the aiming line with the direction of movement of the carrier ship (its longitudinal axis); / 7 - angular velocity of the line of sight; In this case, the coefficient / g can be chosen numerically equal to zf // Z /, where A is the time interval between the moments of the launch of the rocket and the beginning of its guidance according to the commands formed by the guidance unit. Naturally, the polarity (sign) of the guidance commands t ,, should correspond to the polarity of the commands providing the rocket to move in the direction of the aiming line.

To achieve a technical result, a known missile guidance system with an onboard radiation source comprising a sight, a guidance unit generating guidance commands taking into account the missile deflection relative to the aiming line, a launcher and a device for transmitting guidance to a missile, a guidance command generation unit is introduced at the initial portion of the flight path missiles, timer, switch for connecting, according to the signals of the timer, the inputs of the device for transmitting missile guidance commands to the outputs of the guidance block or block generation of guidance commands at the initial portion of the rocket’s flight path and missile launch sensor, the unit for generating guidance commands at the initial portion of the rocket’s flight path connected to the outputs of the angular position and angular velocity sensors of the aiming line in two mutually orthogonal planes, the first and second inputs of the switch connected to the guidance unit, its third and fourth inputs are connected to the guidance command generation unit in the initial portion of the missile flight path, and the outputs to troystvom transmit guidance commands to the missile, the missile sensor descent from a launcher through the timer is connected to a fifth input of the switch.

Figure 1 shows a schematic representation of a ship's missile guidance system in accordance with this proposal.

Figure 2 shows a figure explaining the rotation algorithm of the launcher relative to the direction of movement of the carrier.

|, G (} OMn

- 7 Figure 4 shows the structural diagram of the block forming the guidance commands in the initial section of the flight path of the rocket.

In FIG. 1 schematically shows one of the relative positions of the sight 1, with which the guidance unit, the guidance transmission device for the missile 2 and the launcher 3, with which the rocket 4 starts along the path, are optically aligned

5 (dash-dotted line). The optical axis of the sight (aiming line) 6, aimed at the target ship, is shown by a continuous line, and the boundaries of the field of view 8 of the guidance unit are shown by a dotted line.

Figure 2 schematically illustrates the rotation algorithm of a mobile launcher relative to the direction of movement of the carrier ship of the guided missile system. In this case, the symbol / x / denotes the velocity vector of the launch vehicle (the direction of its longitudinal axis), the symbol / 7 indicates the angle between the direction of movement of the launch vehicle and the direction of the aiming line, and the symbol y indicates the angle between the direction of the aiming line and the direction of the axis of the launcher.

The inventive ship missile guidance system (see FIG. 3) includes sight 1, the optical axis of which (aiming line)

6 is directed to the target ship 7, with sensors of angular velocity 9, 10 and angular position 11, 12 of the aiming line 6 in two mutually orthogonal planes, a guidance command generation unit at the initial portion of the rocket 13 flight path, guidance 14, forming rocket guidance commands 4 having an onboard radiation source in the direction 15 opposite to the direction of its flight, which starts from the launcher 3 along trajectory 5 (dash-dotted line), timer 16, switch 17 for connecting, according to the signals of the timer 16, the inputs of device i

- 8 broadcasts of guidance commands to the rocket 2 to the outputs of the guidance block 14 or to the formation of guidance commands at the initial section of the flight path of the rocket 13 and the missile descent sensor from the launcher 18, while the block to generate guidance commands to the initial section of the flight path of the rocket 13 is connected to the outputs sensors of angular velocity 9.10 and angular position I, 12 of the aiming line 6 in two mutually orthogonal planes, the first and second inputs of the switch 17 are connected to the guidance unit 14, its third and fourth inputs are connected to the block the formation of guidance commands on the initial portion of the flight path of the rocket 13, and the outputs - with the device 2 for transmitting guidance commands to the rocket 4, the missile descent sensor from the launcher 18 through the timer 16 is connected to the fifth input of the switch 17.

The unit for generating guidance commands in the initial portion of the flight path of the rocket 13 is implemented in accordance with the structural diagram shown in figure 4. It includes adders 18, 21, phase-sensitive rectifiers 20, 22 and scaling stages 23, 24, and the first inputs of the adders 19, 21 are connected to the outputs of the sensors 9, 10 of the angular velocity of the aiming line in two mutually orthogonal planes, respectively, the second inputs of the adders 19, 21 through phase-sensitive rectifiers 20, 22 are connected to the outputs of the sensors And, 12 of the angular position of the aiming line in two mutually orthogonal planes, respectively, and the outputs of the adders 19, 21 are connected through inputs to the scaling stages 17.

When used to launch a rocket mobile launcher, the system operates as follows.

- 9 the initial section of the flight path 5 of the rocket 4 until the moment vz / start controlling it according to the commands formed by the guidance unit 14, the inputs of the device for transmitting guidance commands to the rocket 2 through the switch 17 are connected to the outputs of the guidance command generation unit on the initial section of the flight path of the rocket 13, connected to the outputs of the angular velocity sensors 9, 10 and the angular position sensors 11, 12 of the aiming line in two mutually orthogonal planes, in particular, horizontal and

vertical. Moreover, during the time interval l .. ,, from the moment of the launch of the rocket to the moment from: commands are sent to it

guidance

   y)

in each of two mutually orthogonal planes. This takes into account the influence of the lateral velocity head of the air flow in each of the planes and improves the accuracy of the shooting of the rocket in the field of view of the guidance unit.

At the moment, according to the signal from the timer 16, started by the missile descent sensor 18, the switch 17 is activated, disconnecting the inputs of the guidance command transmission device for the missile 2 from the outputs of the guidance command generation unit at the initial portion of the flight path of the rocket 13 and connecting them to the outputs of the guidance unit 14. C moment before reaching the target, the missile control is carried out according to the commands formed by the guidance unit, the optical axis of which is aligned with the optical axis of the sight (aiming line), the guidance unit captures the radiation of the sides source of radiation missiles, whose direction opposite to the direction of its flight, and forms the guidance team, taking into account the deviation of the radiation source from line of sight missile.

- 10 When using a fixed launcher to launch a rocket, before launching the rocket it is necessary to combine the direction of the axis of the launcher with the direction of the optical axis of the sight aimed at the target. Since the launcher is rigidly connected with the hull of the launch vehicle of the guided missile weapons complex (the initial zero direction of the optical axis of the sight at which the signals from the sensors of its angular position in each of the orthogonal planes are zero and the longitudinal axis of the launcher is rigidly coupled with the longitudinal axis of the ship), the ship it is necessary to deploy in the direction of the target with the accuracy necessary to shoot the missile in the field of view of the guidance unit. The larger the angular mismatch between the aiming line and the axis of the launcher at the moment of CTajtia, the greater the distance from the aiming line to the rocket at the moment of starting control by the commands formed by the guidance unit. Therefore, the accuracy of the combination should provide both the fundamental possibility of shooting the missile in the field of view of the guidance unit, and the required minimum firing range.

After the launch of the rocket until the moment ..., the inputs of the device for transmitting guidance commands to the rocket 2 through the switch 17 are connected to the outputs of the guidance command generation unit at the initial section of the flight path of the rocket 13 connected to the outputs of the angular velocity sensors 9, 10 of the aiming line and sensors 11, 12 angular position of the aiming line in two mutually orthogonal planes. At the same time, during the time interval A, from the moment the rocket starts, commands are given to it

- 11 0 /

mwi IIII takes into account both the shift of the aiming line by the angles,, And A zf, x during l zf, and the angular mismatches /// 7 lp Aiming lines with the axis of the launcher in each of the planes, which significantly improves the accuracy of the missile’s shooting in the field view of the guidance unit. An optical sight with a gyro-stabilized head mirror was used as a sight. As sensors of the angular velocity of the aiming line, the potentiometers of the handle of the aiming console are used. The gyro stabilizer control law is high-speed. With the high-speed control law, the magnitude of the signals from the potentiometers of the guidance console sets the angular velocity of the head mirror of the sight (its optical axis or aiming line) in two mutually orthogonal planes. An SKT-265 transformer sensor was used as a sensor of the angular position of the aiming line in each of two mutually orthogonal planes. An infrared direction finder with a photodetector divided into four identical areas was used as a guidance unit; it determines its deviations from its optical axis in two mutually orthogonal directions using the pulsed signals of the on-board infrared radiation source of the rocket, which are converted further into rocket guidance commands in accordance with the selected control law. The direction finder is structurally mounted in the sight, and its optical axis (optical axis of the direction finder lens) is aligned (aligned) with the optical axis of the sight (aim line). - 12 missiles, providing the docking of the electric circuits of the rocket with the equipment of the ship complex of guided missile weapons.

In the first case, the frame is movable, controlled by a servo according to signals from the sensors of the angular position and angular velocity of the aiming line. In the second case - motionless, rigidly connected with the hull of the ship.

A communication radio link is used as a device for transmitting guidance to a missile, in which the guidance of the missile formed by the guidance unit undergoes time-pulse modulation. At the same time, they are converted into command pulses, the temporary position of which relative to the clock pulses of a stable frequency formed in the radio link is determined by the magnitude and polarity of the missile guidance commands. To distinguish guidance commands in mutually orthogonal planes, time coding is used. It consists in converting command and clock pulses into code groups consisting of three pulses. Code groups of command and clock pulses differ from each other in the different arrangement of pulses in triples. These code groups enter the transmitter of the radio link, where they are converted into powerful microwave pulses of ultra-high frequency (microwave), which are transmitted using the transmitting antenna in the direction of the line of sight.

Transformer angular position sensors of the aiming line located in the sight are connected to transformer antenna receivers. Therefore, the transmitting antenna of the radio link moves synchronously with the aiming line and is constantly oriented in its direction.

- 13 a guidance command generator, which includes a series-connected receiving antenna, a microwave filter, a detector section, an amplifier, a decoder designed on the delay lines for decoding code groups of pulses, and two triggers whose outputs are connected to LC filters. The microwave pulses of the radio link transmitter received by the antenna are filtered, detected and amplified. In the decoder, each of the received triples of clock and command pulses reduces to one pulse, which then goes to the installation inputs of the triggers. In this case, high levels of signals are set by clock pulses at the output of triggers, and low levels by command. Each of the triggers receives command pulses that carry information about guidance commands in only one of two mutually orthogonal planes. Commands formed at the outputs of triggers passing through LC filters are transformed into guidance commands, the magnitude and polarity of which is determined by the time position of the command pulses relative to the clock pulses. Further, these newly restored onboard missile guidance commands are used to control its aerodynamic or gasdynamic rudders.

Such a radiation source is installed on board the missile, the radiation direction of which is opposite to the direction of its flight, according to the signals of which the guidance unit generates missile guidance commands. As such a source, a pulsed infrared emitter is used that emits energy pulses with a fixed frequency that is a multiple of the pulse repetition rate generated by the radio link and received by the on-board receiver-shaper.

- 14 missile flight paths made in accordance with the structural diagram presented in Fig.Z. In accordance with this scheme, the signals from the sensors 9, 10 of the angular velocity of the line of sight 6 in two mutually orthogonal planes arrive at the first inputs of the adders 19, 21, respectively. The second inputs of the adders 19, 21 through phase-sensitive rectifiers (PCF) 20, 22 receive signals from transformer sensors I, 12 of the angular position of the aiming line in two mutually orthogonal planes. The PCF converts AC voltage signals from transformer sensors of the angular position of the aiming line into DC voltage signals proportional to the angular deviations of the aiming line relative to the initial zero direction, with which the launcher axis is rigidly coupled. On the adders, the signals of the angular velocity and angular position of the aiming line are summed in accordance with the algorithm lp l. Although angular deviations and angular velocities have different units of measurement, the signals from the angle and angular velocity sensors of the aiming line have the same dimension - the dimension of electrical voltage, since both of these sensors are electric. Therefore, the signals from the sensors of the angular velocity of the aiming line do not need additional transformations to obtain an angular lead signal. The signals from the sensors of the angular velocity and the angular position of the aiming line are matched to each other by summing them with different coefficients, which is achieved by using summing amplifiers as adders. In this case, the angular lead signal lp / y is formed as a component of the output signal of the adder.

- 15 L two non-orthogonal planes arrive at scaling cascades converting them to the required levels of missile guidance commands. From the outputs of the scaling cascades, the signals / () (ff) in each of the orthogonal planes arrive at the inputs of the switch. As adders used summing amplifiers made on operational amplifiers 140ND20B. Phase-sensitive rectifiers are made on operational amplifiers (see V.S. Gutnikov Integrated Electronics in Measuring Devices, p. 123, Leningrad, Energoatomizdat, 1988). Scaling cascades are made on operational amplifiers 140UD20B. The switch is made on a functional chip 590KN4. As a timer, a generator with a frequency divider made on functional logic circuits is used. An electromagnetic relay was used as a missile descent sensor, the field winding of which was connected to the launcher body through a jumper on board the missile. When the launch rocket leaves the launcher, the power supply circuit of the field coil of the relay opens. At the same time, the contacts of this relay, opening, remove the forced zeroing from the timer, which starts the countdown of the time interval. The calculations and simulation results show that when using a mobile launcher to launch a missile, the proposed introduction of guidance commands in the initial section of the missile flight path reduces the minimum firing range of a guided missile ship complex by more than 2 times compared to that of 16 a place without entering these commands with the following rolling parameters affecting the carrier ship of the guided missile system: pitching with amplitude up to 5.5 ° and angular speed up to 10 /, roll-off with amplitude up to 12 ° and angular speed up to 15%, yaw with amplitude up to 5.6 and angular speed up to 2.8 /.

When using a fixed launcher to launch a rocket, the introduction of additional guidance commands with the same pitching parameters allows a threefold extension of the area of angular mismatches allowed to launch the rocket between the direction of the aiming line and the axis of the fixed launcher compared to the original, while maintaining the minimum firing range that takes place in calm weather (in the absence of sea waves).

- 17 FORMNLY

Claims (1)

A ship’s guidance system for a missile with an onboard radiation source, comprising a sight, a guidance unit that generates guidance commands depending on the deviation of the missile relative to the aiming line, a launcher and a device for transmitting guidance to a missile, characterized in that a guidance command generation unit is introduced into it at the initial section of the flight path of the rocket, a timer, a switch for connecting, according to the signals of the timer, the inputs of the device for transmitting missile guidance commands to the outputs of the guidance block or guidance commands at the initial portion of the rocket’s flight path and missile launch sensor, the unit for generating guidance commands at the initial portion of the rocket’s flight path connected to the outputs of the angular position and angular velocity sensors of the aiming line in two mutually orthogonal planes, the first and second inputs of the switch connected to the guidance unit, its third and fourth inputs are connected to the guidance command generation unit in the initial portion of the rocket’s flight path, and the outputs are connected to In order to transmit missile guidance commands, the missile descent sensor from the launcher is connected via a timer to the fifth input of the switch.