RU2117312C1 - Method for guidance of controlled object to target - Google Patents

Abstract

FIELD: air-surface guidance equipment. SUBSTANCE: method involves positioning of external emission source in point outside target, detection of altitude and longitude of this point, calculation of height of this point over sea level, measurement of coordinates of target with respect to this point, calculation of altitude, longitude and height of target, using digital map of region in which target and point with external emission source are located. This information has been preliminarily input into external emission source computer. These target coordinates are sent to controlled object using external emission source. Height of its flight is altered, altitude, longitude and height of its position are calculated using map of region in which flight of controlled object happens, vectors of target and controlled object velocities, vectors of device between object and target and velocity of controlled object with respect to target as well as control characteristics which are designed as differences of in orientation of vectors of distance and velocity of controlled object with respect to target in vertical and horizontal planes. Said map has been preliminarily input into controlled object computer. In addition safety of controlled object against possibility of its crash to ground is provided by dependence of control characteristics in vertical plane on difference of set and current values of flight height of controlled object with respect to landscape as well as on difference between required and current values of controlled object. EFFECT: possibility of passive guidance of controlled object to target which lack external emission source which is sensed by controlled object. 3 dwg

Description

 The invention relates to methods for guiding a managed object (UO) to a ground target and can be used to create new and modernize existing guidance systems for guided objects of the "air - surface" class.

 A known method of active homing of the target on the target [1], which consists in irradiating the target with the radiation of a generator mounted on the target, receiving the radiation reflected from the target on the target, measuring the angle between the direction from which the received radiation and the longitudinal axis of the target, set the desired value of this angle, calculate the difference between the required and measured values of this angle, in proportion to which the control signal is calculated to change the direction of movement of the UO. The disadvantage of this guidance method is the large mass of the radiation generator and its power sources installed on the UO, as well as the impossibility of guiding the UO on targets reflected from which the radiation cannot be distinguished from radiation reflected by objects of the environment surrounding the target.

 There is also known a method of passive homing of the target on the target [2], which consists in the fact that radiation is received from the external radiation source placed on the target, the angle between the direction from which the received radiation arrives at the target is measured, the desired axis is set to the desired value of this angle and calculate the difference between the required and measured value of this angle on the UO, in proportion to which the control signal is calculated to change the direction of movement of the UO in the direction of decreasing this difference. The disadvantage of this method lies in the fact that it does not allow directing the target on targets for which it is impossible to place an external radiation source.

 The prototype of the invention should be considered a way of passive homing UO on the target [2], a common feature of which with the claimed invention is that they accept radiation from an external radiation source and calculate the control signal on the UO to change the direction of movement of the UO.

 In addition, in the prototype, an external radiation source is placed on the target, the angle between the direction from which the received radiation arrives at the optical axis and the longitudinal axis of the optical axis is measured on the MA, the required value of this angle is set, and the difference between the measured and the required values of this angle, which is proportional control signal.

 The disadvantage of the prototype is that it is impossible to direct UO to targets where it is impossible to place an external radiation source that can be received on UO.

 The objective of the invention is the elimination of this drawback, namely, the provision of passive homing UO for purposes where it is impossible to place an external radiation source (VII), which can be taken on UO.

 This task is achieved as follows.

и скорости

УО относительно цели, требуемое значение вертикальной составляющей скорости УО, значение параметра управления Δ_г в горизонтальной плоскости, равного разности значений A_гоц и A_гv, значение параметра управления Δ_в в вертикальной плоскости, равного вначале сумме, первое слагаемое которой пропорционально разности значений ΔH_з и H_ор, а второе слагаемое пропорционально разности требуемого значения и текущего значения вертикальной составляющей скорости УО, а на заключительном этапе наведения, когда A_воц больше чем θ_тр , это второе слагаемое равно разности значений A_воц и A_вv, также вычисляют на УО управляющий сигнал U_в в вертикальной плоскости, равный алгебраической сумме, слагаемые которой пропорциональны соответственно Δ_в , ω_в и n_в, и управляющий сигнал U_в в горизонтальной плоскости, равный алгебраической сумме, слагаемые которой пропорциональны соответственно Δ_г , ω_г и n_г.At some point AND, outside the target, a VII is placed, the geographical coordinates of this point are calculated, the coordinates of the target relative to the And point are measured, and these coordinates are entered into the calculator installed on the VII, where a digital map of the region of the location of the VII and the target is also preliminarily entered. Based on this information, the geographic coordinates of the target and the height of the target above sea level are calculated in this calculator, the values of which encode the radiation of radiation sources. The received radiation of the VII is decoded at the UO, as a result, these target coordinates are received at the UO, which are input into a computer installed on the UO. In the navigation system UO calculate the geographic coordinates of the UO, calculate or measure the components of the velocity vector UO, measure the height H _OR flight UO over the terrain and enter this information into the computer UO, which previously enter a digital map of the area in which the flight UO, and enter also the specified excess ΔH _{s of the} altitude of the flying object over the terrain and the specified value θ _{tr of the} angle of approach of the flying object to the target in the vertical plane. In addition, the measured PP value ω _a, ω _z of the angular velocities of the rotational RO and n values _in, n _g overload control UO respectively in the vertical and horizontal planes, and administered these values to the calculator vivo. Using the input information on the RO is calculated target speed vector components, _VOC values of the angles A, A _Gotz, A _BV, A _gv orientation in vertical and horizontal planes respectively distance vectors

and speed

UO relative to the target, the required value of the vertical component of the velocity UO, the value of the control parameter Δ _g in the horizontal plane, equal to the difference between the values of A _gots and A _gv , the value of the control parameter Δ _in the vertical plane, initially equal to the sum, the first term of which is proportional to the difference of the values ΔH _s and H _op , and the second term is proportional to the difference between the required value and the current value of the vertical component of the speed of the UO, and at the final stage of guidance, when A _is more than θ _tr , this second term _nt is equal to the difference between the values of A _{ц ц} and A _{v v} , the control signal U _in in the vertical plane equal to the algebraic sum, the terms of which are proportional to Δ _in , ω _in and n _in , and the control signal U _in in the horizontal plane equal to the algebraic the sum, the terms of which are proportional to Δ _g , ω _g and n _g , respectively.

,

- вектор дальности между ВИИ и целью и его проекция на плоскость ГП; Цх_гУ_г - прямоугольная система координат, расположенная в плоскости ГП, начало которой находится в точке Ц, ось Цх_г направлена по касательной к географическому меридиану, проходящему через цель, а ось Цу_г направлена по касательной к географической параллели, проходящей через цель; θ_и - угол превышения цели относительно точки И; С-Ю - направление магнитного меридиана в точке И; Δ_и - угол магнитного склонения в точке И; φ_вц - магнитный азимут цели относительно точки И; Х_ци - проекция вектора

на ось Цх_г; Y_ци - проекция вектора

на ось Цу_г;

,

- вектор дальности между УО и целью и его проекция на плоскость ГП; X_оц, Y_оц - координаты точки О' в системе координат Цх;

,

- вектор скорости УО и его проекция на плоскость ГП; V_ов - вертикальная составляющая вектора

; V_ox, V_oy - проекция вектора

на оси Цх_г и Ц_yг;

,

- вектор скорости цели и его проекция на плоскость ГП; V_цв - вертикальная составляющая вектора V_ц; V_цx, Y_цy - проекции вектора

на оси Ц_xг и Ц_yг;

,

- вектор скорости УО относительно цели и его проекция на плоскость ГП; V_оцв - вертикальная составляющая вектора

; V_оцх, V_оцу - проекции вектора

на оси Цх_г и Цу_г; A_гоц - угол ориентации вектора

в горизонтальной плоскости; A_гv - угол ориентации вектора

в горизонтальной плоскости; H_ц - высота точки Ц над УМ; H_и - высота точки И над УМ; H_ро - высота точки О над УМ; A_воц - угол ориентации вектора

в вертикальной плоскости; A_вv - угол ориентации вектора

в вертикальной плоскости.Figure 1 shows the positions of the UO and the target at the current point in time t guidance in the horizontal (figure 1, a) and vertical (figure 1, b) planes. In figure 1 is indicated: UM - sea level; C - the location of the target; GP - the horizontal plane passing through point Ts; O, O '- the point at which the MA is located, and the projection of this point on the surface of the earth; And, And '- the point at which the WII is located, and the projection of this point on the plane of the GP;

,

- the distance vector between the VII and the target and its projection onto the GP plane; Цх _г У _г - a rectangular coordinate system located in the plane of the GP, the beginning of which is located at the point Ц, the axis Цх _{г is} directed along the tangent to the geographic meridian passing through the target, and the axis Цу _{г is} directed along the tangent to the geographic parallel passing through the target; θ _and - the angle of excess of the target relative to the point And; C-S — direction of the magnetic meridian at point I; Δ _and - the angle of magnetic declination at the point And; φ _VT - the magnetic azimuth of the target relative to the point And; X _qi - vector projection

axle Ux _g; Y _qi - vector projection

on the axis Tsu _g ;

,

- the distance vector between the MA and the target and its projection on the plane of the GP; X _sc , Y _sc - the coordinates of the point O 'in the coordinate system Tsx;

,

- the velocity vector of the EO and its projection on the plane of the GP; V _s - the vertical component of the vector

; V _ox , V _oy - the projection of the vector

on the axis Cx _g and C _yg ;

,

- target velocity vector and its projection onto the GP plane; V _cv is the vertical component of the vector V _c ; V _cx , Y _cy - vector projections

on the axis _{X xg} and C _yg ;

,

- the velocity vector of the object relative to the target and its projection on the plane of the GP; V _Otsv - the vertical component of the vector

; V _sc , V _sc - projections of the vector

on the axis Tsx _g and Tsu _g ; A _goz is the orientation angle of the vector

in the horizontal plane; A _gv is the orientation angle of the vector

in the horizontal plane; H _u - height of the point C on the PA; H _and - the height of the point And above the MIND; H _ro - the height of the point O above the MIND; A _voc - vector orientation angle

in the vertical plane; A _bv is the orientation angle of the vector

in the vertical plane.

,

- конкретные заданные значения H_з; D_гоц - дальность между УО и целью в горизонтальной плоскости; D_гоц1 - конкретное заданное значение D_гоц.In FIG. Figure 2 shows a graph of the dependence ΔH _z (D _gots ) in the case of setting this dependence by a step function. Figure 2 indicates: ΔH _s - the specified excess of the flight altitude of the UO over the terrain;

,

- specific setpoints H _s ; D _gots - the distance between the UO and the target in the horizontal plane; D _gots1 - specific setpoint D _dots .

Figure 3 presents the structural diagram of a possible variant of the device that implements the proposed method of pointing the UO to the target. The dashed lines are the elements of the device located at the VII and UO location. In each element having more than one input or output, the numbers indicate the numbers of the corresponding inputs and outputs. Figure 3 is indicated: 1 - receiver of a satellite navigation system (PSSN); 2 - range finder; 3 - magnetic compass; 4 - calculator; 5 - external radiation source (VII); 6 - radiation detector VII; 7 - receiver of a satellite navigation system located on the UO (PSSN UO); 8 - radio altimeter; 9 - sensor angular velocity (TLS) ω _{in the} rotation of the housing UO in a vertical plane; 10 - TLS ω _g rotation of the housing UO in the horizontal plane; 11 - sensor control overload (DUP) n _g UO in the horizontal plane; 12 - DUP n _in UO in a vertical plane; 13 - calculator UO; ψ _and , λ _and - latitude and longitude of the location of the Institute; CC1 - a digital map of the area where the VII and the target are located; ψ _C , λ _C - latitude and longitude of the target location; ψ _o , λ _o - latitude and longitude of the place in which the UO; θ _tr - the desired value of the angle of inclination of the trajectory of the MA in the vertical plane at the final stage of guidance of the MA or the specified angle of approach of the MA to the target in the vertical plane; ΔH _z - the specified excess of the altitude of the flight above the surface of the earth; TsK2 - a digital map of the area in which the flight UO; D _b - the set value of the distance from the UO to the current point in front of the UO in the direction of its flight. The remaining symbols in FIG. 3 are the same as in FIG. 1.

 The essence of the proposed method is as follows.

где H_и(ψ_и(t) , λ_и(t)) , H_ц(ψ_ц(t) , λ_ц(t)) - однотипные алгоритмы вычисления высоты точки на цифровой карте по известным значениям широты и долготы этой точки;
a, e - большая полуось и эксцентриситет референц - эллипсоида, значения которых известны.At the point And outside the target (Fig. 1), a VII is placed and at the current time point t of guiding the VO to the target, the distance D (t) of the VII to the target is measured, the magnetic azimuth φ of the _center (t) of the target relative to the VII, latitude ψ _and (t) and longitude λ _and (t) and enter these values into the computer installed on the WII. A digital map of the area of the VII location and the target is first introduced into the same calculator. Using the coordinates ψ _and (t), λ _and (t) and a digital map in the WII calculator, calculate the height H _and (t) of the point And above sea level and the angle of magnetic declination Δ _and (t) at point I. In addition, in the calculator VII calculate the latitude ψ _c (t), longitude λ _c (t) and the height H _c (t) above sea level of point C according to the following algorithm:

where H _and (ψ _and (t), λ _and (t)), H _c (ψ _c (t), λ _c (t)) are the same type of algorithms for calculating the height of a point on a digital map from the known values of the latitude and longitude of this point;
a, e - semi-major axis and eccentricity of the reference - ellipsoid, the values of which are known.

а по долготе

где ψ_max , ψ_min - максимальная и минимальная широта района, перенесенного на цифровую карту;
λ_max , λ_min - максимальная и минимальная долгота этого района.Since algorithms (3) and (4) are of the same type, it is sufficient to consider the essence of one of them, for example, algorithm (3). Information about the terrain in a digital map of the area of the VII location and the target is contained in the DEM stored in the memory of the calculator, each element H _ij (i = 1, 2, ...., n; j = 1, 2, ... m) which is the height above sea level of a terrain point having latitude i and longitude j. The discreteness of this matrix is latitude

and in longitude

where ψ _max , ψ _min - the maximum and minimum latitude of the region transferred to the digital map;
λ _max , λ _min - the maximum and minimum longitude of this region.

Используя значения высот H_kl, H_(k+1)l, H_k(l+1), H_{(k+1) (l+1)}, соответствующие значениям полученных пар

значений аргументов, и считая изменение высоты между этими значениями линейным, получим

где

По такому же алгоритму вычисляют высоту H_ц(t) (4) по входным данным ψ_ц(t) , λ_ц(t) .Using the latitude and longitude values of the AND point entered in the calculator (Fig. 1), the two pairs of values of the matrix arguments are calculated, inside which the entered values ψ _and and λ _and

Using the heights H _kl , H _{(k + 1) l} , H _{k (l + 1)} , H _{(k + 1) (l + 1)} , corresponding to the values of the obtained pairs

values of the arguments, and considering the change in height between these values to be linear, we obtain

Where

Using the same algorithm, the height H _c (t) (4) is calculated from the input data ψ _c (t), λ _c (t).

точки О (фиг.1), а также измеряют или вычисляют составляющие V_ов(t), V_оx(t), V_оy(t). Кроме того, на УО измеряют высоту H_op(t) полета УО. Эти значения вводят в вычислитель УО, куда предварительно вводят цифровую карту района, в котором проходит полет УО. По введенной информации в вычислителе УО вычисляют:
1) координаты D_ноц(t), D_гоц(t), A_воц(t), A_гоц(t) положения УО относительно цели (фиг. 1)

H_оц(t) = H_о(t) - H_ц(t), (16)
H_о(t) = H_ор(t) + H_ро(t), (17)

где H_po(ψ_o(t) , λ_o(t)) - алгоритм, подобный рассмотренному выше алгоритму (9);
2) составляющие вектора

скорости цели

где Δt - заданный интервал времени;
3) составляющие вектора

скорости УО относительно цели
V_оцв(t) = V_ов(t) - V_цв(t), (24)
V_оцx(t) = V_оx(t) - V_цx(t), (25)
V_оцy(t) = V_оy(t) - V_цy(t); (26)
4) модуль V_оц(t) и углы ориентации A_вv(t), A_гv(t) вектора

скорости УО относительно цели (фиг.1)

5) требуемое значение V_овп(t) вертикальной составляющей скорости УО

где D_б - заданное расстояние от УО до некоторой точки, расположенной в горизонтальной плоскости впереди УО по направлению его полета. Значение D_б задают из условия безопасности УО от столкновения с землей, например D_б = 500 - 1000 м, и предварительно вводят в вычислитель УО.The values of the coordinates of the target encode the radiation parameters of the radiation source, for example, the time intervals between pulses of this radiation. The received radiation of the VII is decoded at the UO, as a result, the coordinates of the target are received at the UO and entered into the computer installed on the UO. In the navigation system UO calculate the latitude ψ _o (t) and longitude

point O (figure 1), and also measure or calculate the components of V _s (t), V _ox (t), V _oy (t). In addition, on the UO measure the height H _op (t) flight UO. These values are entered in the calculator UO, which previously enter the digital map of the area in which the flight UO. According to the entered information in the calculator UO calculate:
1) the coordinates of D _sc (t), D _sc (t), A _sc (t), A _sc (t) of the UO position relative to the target (Fig. 1)

H _sc (t) = H _o (t) - H _c (t), (16)
H _o (t) = H _op (t) + H _ro (t), (17)

where H _po (ψ _o (t), λ _o (t)) is an algorithm similar to the above algorithm (9);
2) vector components

target speed

where Δt is the specified time interval;
3) vector components

yo speed relative to the target
V _OTsV (t) = V _ov (t) - V _tsv (t), (24)
V _sc (t) = V _ox (t) - V _cx (t), (25)
V _otsy (t) = V _oy (t) - V _tsy (t); (26)
4) the module V _ots (t) and the orientation angles A _{в v} (t), A _{v v} (t) of the vector

the speed of UO relative to the target (figure 1)

5) the required value of V _ovp (t) of the vertical component of the speed UO

where D _b - a given distance from the UO to a point located in a horizontal plane in front of the UO in the direction of its flight. The value of D _{b is} set from the safety condition of the MA from a collision with the ground, for example, D _b = 500 - 1000 m, and previously entered into the calculator of the MA.

где D_гоц = 10 - 12 км, задают

, где значение

= 30 - 50 м, например, задают из соображений безопасности от столкновения УО с землей и снижения вероятности обнаружения УО радиолокационными средствами, расположенными в районе цели. При D_гоц ≤

задают

, где значение

= 1000 - 2000 м, например, задают из условия обеспечения необходимых условий работы средств обнаружения цели, находящихся на борту УО.Preliminarily set and enter into the calculator UO the required law of change of the set value ΔH _h exceeding the altitude of the UO above the surface of the earth depending on D _GOC . The dependence ΔH _z (D _gots ) is set in the form of a stepwise or piecewise linear function of the specified argument. An example of a given function ΔH _z (D _gots ) is shown in FIG. 2. For D _gots >

where D _gots = 10 - 12 km, set

where the value

= 30 - 50 m, for example, is set for safety reasons from a collision between a UO and the ground and a decrease in the likelihood of UO detection by radar means located in the target area. For D _goz ≤

ask

where the value

= 1000 - 2000 m, for example, is set from the conditions for ensuring the necessary working conditions of target detection devices on board the UO.

In addition, the desired value θ _{tr of the} angle of approach of the UO to the target in the vertical plane is set and entered into the calculator of the MA.

где k_H, k_v - коэффициенты пропорциональности.In the process of pointing the MA to the target, the current values Δ _in (t) of the control parameter in the vertical plane and Δ _g (t) of the control parameter in the horizontal plane are calculated in the UO calculator. For a given function ΔH _z shown in FIG. 2, the value of Δ _in (t) is calculated by the following algorithm:

where k _H , k _v are the proportionality coefficients.

где ω_в(t), ω_г(t) - значения угловой скорости вращения корпуса УО соответственно в вертикальной и горизонтальной плоскостях, которые измеряют в процессе наведения УО;
n_в(t), n_г(t) - значения управляющей перегрузки УО соответственно в вертикальной и горизонтальной плоскостях, которые измеряют в процессе наведения УО;
k₁, k₂, k₃, k₄, k₅, k₆ - соответствующие коэффициенты пропорциональности.The value of Δ _g (t) is determined by the formula
Δ _g (t) = A _gots (t) -A _gv (t). (41)
The UO calculator also calculates the values of the control signals U _in (t) and U _g (t), respectively, in the vertical and horizontal planes to change the direction of movement of the UO in these planes

where ω _in (t), ω _g (t) are the values of the angular velocity of rotation of the housing of the MA, respectively, in the vertical and horizontal planes, which are measured in the process of guidance of the MA;
n _in (t), n _g (t) are the values of the control overload of the MA, respectively, in the vertical and horizontal planes, which are measured in the process of guidance of the MA;
k ₁ , k ₂ , k ₃ , k ₄ , k ₅ , k ₆ are the corresponding proportionality coefficients.

 Thus, the proposed method allows to provide guidance on the goals for which it is impossible to place aII, which is what the objective of the invention is achieved.

 A device that implements the proposed method of pointing the target on the target includes the elements located in the installation site of the FI, and the elements mounted on the target. At the installation site of the VII there is PSSN 1, (Fig. 3), a range finder 2, a magnetic compass 3, calculator 4 and VII 5, the first and second outputs of the PSSN 1 being connected respectively to the first and second inputs of the calculator 4, the output of the range finder 2 is connected with the third the input of the calculator 4, the output of the magnetic compass 3 is connected with the fourth input of the calculator 4, and the first, second and third outputs of the calculator 4 are connected respectively with the first, second and third inputs of the VII 5.

 The radiation detector VII 6, PSSN UO 7, RV 8, DUS 9, DUS 10, DUP 11, DUP 12 and calculator 13 are installed on the UO, and the first, second and third outputs of receiver 6 are connected respectively to the sixth, seventh and eighth inputs of the calculator 13 , the first, second, third, fourth and fifth outputs of the PSSN 7 are connected respectively to the first, second, third, fourth and fifth inputs of the calculator 13, the outputs of the DLU 9 and DLU 10 are connected respectively to the tenth and eleventh inputs of the calculator 13, and the outputs of the DUP 11 and DUP 12 are associated with the twelfth and thirteenth inputs respectively spruce 13.

 This device works as follows.

Preliminary, i.e. prior vivo targeting to the target by calculating a fifth input 4 is fed a predetermined digital map CD1 and storing this information in the calculator 4. Also fed to the pre fourteenth input calculator 13 TSK2 predetermined digital map, and the fifteenth input calculator 13 is fed a predetermined function _of ΔH ( D _gots ). At the sixteenth input of the calculator 13 serves the set value θ _tr , and at the seventeenth input of the calculator 13 - the set value D _b . The information supplied to these inputs of the calculator 13 is stored in it. PSSN 1, range finder 2, magnetic compass 3 and calculator 4 and VII 5 are installed at point And (Fig. 1) outside the target. PSSN 1 receives radio signals emitted by artificial Earth satellites, which are part of the satellite navigation system, and calculates the latitude ψ _and and longitude λ _and point I. The values ψ _and and λ _and from the outputs of PSSN 1 are fed to the corresponding inputs of calculator 4 and stored in it . Using EDM 2 measured distance D between the target and the Wii and rangefinder output value D 2 is fed to the third input of the calculator 4. Using magnetic compass 3 is measured magnetic azimuth φ relative to goals Wii _CC and the output of the magnetic compass 3 is fed a measured value φ on _VTS the fourth input of the calculator 4. Using the information supplied to its inputs, in the calculator 4 in accordance with the algorithm (1) - (8) calculate the latitude ψ _C (t), longitude λ _C (t) and the height H _c (t) places target location. These target coordinates from the corresponding outputs of the calculator 4 (Fig. 3) are fed to the corresponding inputs of the VII 5, which emits radiation into the space, the parameters of which are encoded by the values of the target coordinates. The receiver 6 receives this radiation, and as a result of processing decodes it. Therefore, at the corresponding outputs of the receiver 6 receive the coordinates of the target, which are fed to the corresponding inputs of the calculator 13. PSSN UO 7 receives the radio signals emitted by artificial Earth satellites, which are part of the satellite navigation system, and calculates the latitude ψ _o (t) and longitude λ _o (t) the point at which the _MA is located, and the values of the components V _s , V _ox , V _{oy of the} velocity of the _MA . These values of the coordinates and components of the speed of the UO from the corresponding outputs of the PSSN UO 7 are supplied to the corresponding inputs of the calculator 13. RV 8 measures the height H _op (t), which from the output of the RV 8 goes to the ninth input of the calculator 13. ДУС 9 and ДУС 10 measure the values respectively ω _g and ω _in , which are supplied from the outputs of these DLS to the corresponding inputs of the calculator 13. DUP 11 and DUP 12 measure the values of n _g (t) and n _in (t), respectively, which from the outputs of these DUP are fed to the corresponding inputs of the calculator 13. Using the information received at its inputs, in ychislitele 13 in accordance with the algorithm (9) - (43) computing _a control signal U (t) and U _r (t) for changing the movement direction UO respectively in the vertical and horizontal planes.

Sources of information
1. Gladkov D.I. Aviation weapons. - M .: Military Publishing House, 1985, p. 84.

 2. Maximov M.V., Gorgonov G.I. Electronic homing systems. - M .: Radio and communications, 1982, p. 7.

Claims (1)

The method of pointing the controlled object to the target, which consists in receiving radiation from an external radiation source on the controlled object and calculating the values of the control signals U _in the vertical plane and U _g in the horizontal plane in proportion to the corresponding values of the control parameters Δ _in and Δ _g in these planes, characterized in that the external radiation source is installed outside the target, the range D is measured from its installation location to the target, the magnetic azimuth φ of this _center relative to the target is set and the value θ _{tr of the} angle of approach of the controlled object to the target in the vertical plane, determine the geographical coordinates - the latitude and longitude of the installation location of the external radiation source, enter them and the measured values of D, φ _ntw into the _computer installed on the external radiation source, into which the digital map of the target location area is preliminarily entered using which the altitude values of the place of installation of the external radiation source and the target are calculated, as well as the geographical coordinates are calculated - the latitude and longitude of the location When the target is activated, the radiation of an external radiation source is encoded by the values of these coordinates and the altitude of the target location, decode the received radiation on the controlled object and as a result receive the transmitted geographical coordinates of the target and its height above sea level, enter them into the calculator installed on the controlled object in which a pre-administered exceeded the predetermined flying height ΔH _of the controlled object on the terrain, the predetermined distance D _b in the horizontal plane from the managed object the current point located ahead of the controlled object in the direction of its flight, a digital map of the area, over which passes the flight path of a managed object, and the set value θ _tr is calculated in the calculator managed object latitude and longitude of the place where it is located, the components of target velocity and the velocity vector of the controlled object, the values of the modules and the orientation angles of the distance and velocity vectors of the controlled object relative to the target, the required value of the vertical speed of the controlled object, and the same values of the control parameters in the horizontal Δ _g and vertical Δ _{in the} planes, and the value of Δ _g is equal to the difference of the orientation angles in the horizontal plane of the distance vectors and the speed of the controlled object relative to the target, the value of Δ _in until time t _n , at which the equality of the orientation angle in the vertical plane of the distance vector of the controlled object to the target, the given value θ _tr is equal to the sum, the first term of which is proportional to the difference between the values of ΔH _s and the current value of H _or flight altitude object over the terrain, and the second term is proportional to the difference between the required and current values of the vertical speed of the controlled object, and since time t _n , the Δ value _is equal to the difference in the orientation angles in the vertical plane of the distance and velocity vectors of the controlled object relative to the target.

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