RU2191406C1 - Technique delivering radiation to traveling object and device for its implementation - Google Patents

Abstract

FIELD: laser detection and ranging, quantum electronics, systems delivering high-power radiation to air and space objects. SUBSTANCE: in correspondence with proposed technique present coordinates of object relative to platform of flying vehicle are determined, guidance of axis of source of auxiliary radiation on axis of source of working radiation is conducted, coordinates of directivity vector of axis of source of working radiation are found, axis of source of working radiation is guided on to point of anticipated presence of object defined more accurately, precision of guidance on to object is checked, compensating angular displacement in direction of propagation of working radiation is entered and working radiation is formed by reversal of wave front of radiation from source of auxiliary radiation. EFFECT: increased precision of radiation guidance on to traveling object. 15 cl, 7 dwg

Description

 The invention relates to laser ranging, as well as to systems for transporting and delivering powerful radiation to air and space objects.

 The preferred area of use of the invention is the cleaning of space near-Earth space from various small-sized objects that pose a danger to modern spacecraft and satellites. The effect of powerful laser radiation on small-sized objects located in space orbit leads to a change in the parameters of motion and, as a consequence, the orbits of these undesirable objects, as a result of which these objects burn up after some time in denser layers of the atmosphere.

 A known method of guidance and delivery of power radiation to an object [1], which consists in determining the spatial coordinates of the object, the formation of power radiation from a source located on the earth's surface, pointing power radiation to a space object through distribution and guidance mirrors in space in space orbits. This method has a drawback characterized by a low energy density of power radiation at the object, which is due to the influence of the atmospheric radiation propagation channel, leading to a significant increase in the divergence of radiation directed through the atmospheric channel to the object.

 There is a method of adaptively focusing radiation on an object through a layer of turbulent atmosphere [2], which consists in illuminating the object with power radiation through a distorting medium — an atmospheric radiation propagation channel, receiving radiation reflected from the object, introducing phase pre-emphasis into the radiation flux and maximizing the signal reflected from the object.

 The disadvantages of this method include the low energy density of power radiation at the object due to the low efficiency of the compensation of atmospheric distortions when working on a moving space object.

формировании импульса вспомогательного излучения в направлении измеренных координат объекта, приеме отраженного от объекта импульса вспомогательного излучения, формировании рабочего излучения посредством обращения волнового фронта отраженного импульса вспомогательного излучения, введении дополнительного наклона волнового фронта в рабочее излучение и направлении его на объект через атмосферный канал распространения излучения. К недостаткам данного способа следует отнести невысокую плотность энергии излучения на объекте вследствие низкой эффективности компенсации атмосферных искажений в канале распространения рабочего излучения, что обусловлено влиянием высокой скорости движения космического объекта, вследствие которой вспомогательное излучение, в котором фиксируются атмосферные искажения, и сформированное на основе обращения волнового фронта рабочее излучение проходят по разным атмосферным каналам.A known method of pointing radiation to an object [3], which consists in determining the coordinates of the object

generating an auxiliary radiation pulse in the direction of the measured coordinates of the object, receiving an auxiliary radiation pulse reflected from the object, generating the working radiation by reversing the wavefront of the reflected auxiliary radiation pulse, introducing an additional wavefront tilt into the working radiation and directing it to the object through the atmospheric radiation propagation channel. The disadvantages of this method include the low density of radiation energy at the object due to the low efficiency of the compensation of atmospheric distortions in the propagation channel of the working radiation, due to the influence of the high velocity of the space object, due to which the auxiliary radiation, in which atmospheric distortions are recorded, and formed on the basis of the wave front working radiation pass through different atmospheric channels.

, дальности R₀(t₀) и скорости

объекта в момент времени t_o относительно первой заданной точки пространства А₁ в первой системе координат, связанной с платформой летательного аппарата (ЛА), движущейся относительно источника рабочего излучения, формировании вспомогательного излучения, определении расстояния между второй заданной точкой пространства А₂ во второй системе координат, связанной с платформой ЛА, и источником рабочего излучения, направлении вспомогательного излучения от источника рабочего излучения во вторую заданную точку пространства А₂, формировании импульса отраженного вспомогательного излучения путем отражения импульса вспомогательного излучения во второй заданной точке пространства А₂, формировании рабочего излучения посредством обращения волнового фронта вспомогательного излучения, отраженного во второй заданной точке пространства А₂, наведения рабочего излучения из первой заданной точки пространства A₁ в точку ожидаемого нахождения объекта с координатами

относительно первой заданной точки пространства А₁ посредством первого блока наведения излучения.The closest in technical essence to the proposed technical solution is a method of delivering radiation to a moving object [4], selected as a prototype. This method consists in determining the coordinates

range R ₀ (t ₀ ) and speed

object at time t _o relative to the first given point in space A ₁ in the first coordinate system associated with the platform of the aircraft (LA), moving relative to the source of working radiation, the formation of auxiliary radiation, determining the distance between the second given point in space A ₂ in the second coordinate system associated with the aircraft platform, and a source of working radiation direction of radiation from the auxiliary radiation source operating at a second predetermined point in space a ₂ formation mpulsa reflected auxiliary radiation by reflecting the pumping radiation pulses during a second predetermined point in space A _2, forming working radiation by conjugation auxiliary radiation reflected at a second predetermined point in space A _2, guidance working radiation of a first predetermined point in space A ₁ to a point expected finding object with coordinates

relative to the first predetermined point of space A ₁ through the first radiation guidance unit.

приобретает неконтролируемый дополнительный угловой сдвиг, обусловленный указанным изменением направления оси вектора рабочего излучения, приходящего в точку А₁, относительно требуемого идеального направления, перпендикулярного оси первого блока наведения излучения. Вследствие этого точность наведения рабочего излучения из точки А₁ в точку ожидаемого нахождения объекта уменьшается, что обусловливает также снижение плотности энергии рабочего излучения на объекте.The disadvantages of this method include the low accuracy of pointing radiation from the first given point in space A ₁ in the direction of the point of the expected location of the object, which is due to a change in the direction of the radiation pattern axis formed after phase conjugation of the working radiation arriving at point A ₁ from the working radiation source located on the ground relative to the ideal direction of the axis of the working radiation, which should be directed to point A ₁ strictly perpendicularly for precise guidance of the working radiation ndicular to the aircraft platform velocity vector. For this, the auxiliary radiation pulse from the source of the working radiation located on the ground should come to point A ₂ on the reflective element located on the platform of the aircraft moving at high space speed at the moment when point A ₂ passes the traverse point of the trajectory relative to the ground source of working radiation. To fulfill this condition, it is necessary to have, with a high degree of accuracy, information about the time of the traverse point passing by the aircraft platform and the predetermined point A ₂ connected to the platform, and also to generate, in accordance with this information, the auxiliary radiation pulse at the corresponding time with a very small time error. The high speed of the aircraft’s movement leads to low accuracy in the determination of the indicated times and, accordingly, to a change in the angular direction of the axis of the working radiation arriving at the first given point A ₁ relative to the ideal direction of the axis of the working radiation strictly perpendicular to the velocity vector of the aircraft platform and the axis of the first guidance unit parallel to the velocity vector of the aircraft platform. In this case, the direction vector of the working radiation from point A ₁ to the point of the expected location of the object with coordinates

acquires an uncontrolled additional angular shift due to the indicated change in the direction of the axis of the vector of the working radiation arriving at point A ₁ with respect to the required ideal direction perpendicular to the axis of the first radiation guidance unit. As a result, the accuracy of pointing the working radiation from point A ₁ to the point of the expected location of the object decreases, which also leads to a decrease in the energy density of the working radiation at the object.

 As a prototype for a device that implements the proposed method, the selected device that implements the method is a prototype [4].

 Achievable technical result is to increase the accuracy of pointing radiation to a moving object, increasing the radiation energy density at the object.

 A new technical result is achieved as follows.

, дальности R(t_o) и скорости

объекта относительно первой заданной точки пространства А₁ в системе координат, связанной с платформой летательного аппарата (ЛА), движущейся относительно источника рабочего излучения, определении расстояния между платформой ЛА и источником рабочего излучения, формировании вспомогательного излучения, формировании рабочего излучения посредством обращения волнового фронта (ОВФ) вспомогательного излучения, наведения оси рабочего излучения из первой заданной точки пространства А₁ в точку ожидаемого нахождения объекта с координатами

посредством первого блока наведения, до формирования вспомогательного излучения осуществляют наведение оси источника вспомогательного излучения на ось источника рабочего излучения, осуществляют определение пространственных координат вектора направленности

оси источника рабочего излучения относительно первой заданной точки пространства А₁ в момент времени t₁, определяют координаты первого вектора разности

между координатами

точки ожидаемого нахождения объекта и координатами вектора направленности

оси источника рабочего излучения относительно первой заданной точки пространства А₁

, осуществляют наведение выходной оси первого блока наведения в первую уточненную точку ожидаемого нахождения объекта с координатами

, равными первому вектору разности

,
осуществляют контроль точности наведения излучения на объект путем определения вектора

ошибки наведения излучения на объект в момент прихода излучения на объект, осуществляют компенсацию измеренной ошибки наведения путем наведения выходной оси первого блока наведения во вторую уточненную точку ожидаемого нахождения объекта с пространственными координатами

, равными сумме координат

первой уточненной точки ожидаемого нахождения объекта и координат вектора

ошибки наведения излучения на объект

осуществляют смещение оси источника вспомогательного излучения параллельно самой себе в плоскости, перпендикулярной этой оси, на величину, пропорциональную расстоянию от платформы ЛА до источника рабочего излучения и величине скорости платформы ЛА относительно источника рабочего излучения, в момент времени формирования импульса вспомогательного излучения определяют координаты вектора направления оси источника рабочего излучения

в системе координат, связанной с первой заданной точкой А₁, определяют координаты второго вектора разности

между ранее определенным вектором направления оси источника рабочего излучения

в момент времени t₁ и вектором направления оси источника рабочего излучения

, координаты которого определены в момент времени формирования импульса вспомогательного излучения

на основании полученных величин пространственных координат второго вектора разности

формируют компенсирующий угловой сдвиг, пропорциональный величинам пространственных координат второго вектора разности

, осуществляют введение компенсирующего углового сдвига в направление распространения рабочего излучения в момент времени его прихода на платформу ЛА, осуществляют наведение рабочего излучения из первой заданной точки пространства А₁ во вторую уточненную точку ожидаемого нахождения объекта с пространственными координатами

посредством первого блока наведения, при этом суммирование векторов и их координат осуществляют по правилам суммирования векторных величин.1. In the known method, which consists in determining at time t _o coordinates

range R (t _o ) and speed

object relative to the first given point in space A ₁ in the coordinate system associated with the aircraft platform (LA) moving relative to the working radiation source, determining the distance between the aircraft platform and the working radiation source, generating auxiliary radiation, generating working radiation by means of wavefront reversal (phase conjugation) ) auxiliary radiation, pointing the axis of the working radiation from the first given point in space A ₁ to the point of the expected location of the object with coordinates

by means of the first guidance unit, until the auxiliary radiation is formed, the axis of the auxiliary radiation source is guided to the axis of the working radiation source, the spatial coordinates of the directivity vector are determined

the axis of the source of working radiation relative to the first given point in space A ₁ at time t ₁ , determine the coordinates of the first difference vector

between coordinates

points of the expected location of the object and the coordinates of the directivity vector

the axis of the source of working radiation relative to the first given point in space A ₁

guidance of the output axis of the first guidance unit to the first specified point of the expected location of the object with coordinates

equal to the first difference vector

,
control the accuracy of pointing radiation to the object by determining the vector

errors of pointing the radiation at the object at the time of arrival of radiation at the object, they compensate for the measured guidance errors by pointing the output axis of the first guidance unit to the second specified point of the expected location of the object with spatial coordinates

equal to the sum of coordinates

the first specified point of the expected location of the object and the coordinates of the vector

errors pointing the radiation at the object

the axis of the auxiliary radiation source is shifted parallel to itself in a plane perpendicular to this axis by an amount proportional to the distance from the aircraft platform to the working radiation source and the speed of the aircraft platform relative to the working radiation source, at the time of the auxiliary radiation pulse formation, the coordinates of the axis direction vector are determined working radiation source

in the coordinate system associated with the first given point A ₁ determine the coordinates of the second difference vector

between a previously defined direction vector of the axis of the working radiation source

at time t ₁ and the direction vector of the axis of the working radiation source

whose coordinates are determined at the time of formation of the auxiliary radiation pulse

based on the obtained spatial coordinates of the second difference vector

form a compensating angular shift proportional to the spatial coordinates of the second difference vector

carry out the introduction of a compensating angular shift in the direction of propagation of the working radiation at the time of its arrival on the aircraft platform, carry out the guidance of the working radiation from the first given point in space A ₁ to the second specified point of the expected location of the object with spatial coordinates

by means of the first guidance unit, while the summation of the vectors and their coordinates is carried out according to the rules of summation of vector quantities.

вектора направленности оси источника рабочего излучения формируют зондирующее лазерное излучение, вектор направленности оси которого совпадает с направлением оси источника рабочего излучения, направляют сформированное зондирующее излучение от источника рабочего излучения в первую заданную точку А₁ пространства и определяют пространственные координаты вектора направленности сформированного зондирующего излучения в системе координат относительно точки А₁, полученные значения координат принимают за пространственные координаты

вектора направленности оси источника рабочего излучения, причем формирования рабочего излучения не производят.2. To determine the spatial coordinates

the directivity vectors of the axis of the working radiation source form probing laser radiation, the directivity vector of the axis of which coincides with the direction of the axis of the working radiation source, direct the generated probing radiation from the working radiation source to the first given point A _{1 of the} space and determine the spatial coordinates of the directivity vector of the generated sounding radiation in the coordinate system relative to point A ₁ , the obtained coordinate values are taken as spatial coordinates

directional vectors of the axis of the source of working radiation, and the formation of working radiation is not produced.

на момент времени прихода на объект зондирующего излучения, определяют координаты вектора разности

между точкой реального положения объекта с координатами

в момент времени прихода зондирующего излучения на объект и точкой ожидаемого нахождения объекта с координатам

координаты полученного вектора разности принимают за координаты вектора

ошибки наведения излучения на объект

причем ось сформированного зондирующего излучения совпадает с направлением оси источника вспомогательною излучения.3. In order to control the accuracy of pointing the radiation at the object, probing radiation is formed at a time t _z following the time t _{1 of} determining the coordinates of the axis of the working radiation source, the probe radiation is sent from point A ₁ to the working radiation source, and after reflection of the probe radiation from the source of the working radiation, the probe radiation is guided to the object from the first predetermined point A ₁ by means of the first guidance block, the real coordinates of the object are determined a

at the time of arrival of the probe radiation to the object, the coordinates of the difference vector are determined

between the point of the real position of the object with coordinates

at the time of arrival of the probe radiation to the object and the point of the expected location of the object with coordinates

the coordinates of the resulting difference vector are taken as the coordinates of the vector

errors pointing the radiation at the object

moreover, the axis of the generated probing radiation coincides with the direction of the axis of the auxiliary radiation source.

наведения излучения на объект осуществляют многократный подсвет объекта серией импульсов зондирующего излучения, для каждого из зондирующих импульсов подсвета объекта определяют вектор

разности между измеренными реальными координатами объекта

на момент прихода на объект данного импульса зондирующего излучения и координатами точки

ожидаемого нахождения объекта

осуществляют определение среднего вектора разности

для полученной серии произведенных измерений вектора разности

, параметры полученного усредненного вектора разности

принимают за параметры вектора ошибок Р наведения излучения на объект

, где i - номер импульса зондирующего излучения из серии импульсов с общим числом импульсов, равным М:
i=1,2,3... М.4. To determine the error vector

pointing radiation to the object provides multiple illumination of the object by a series of pulses of probing radiation, for each of the probing pulses of illumination of the object determine the vector

the difference between the measured real coordinates of the object

at the moment of the arrival of a given probe pulse to the object and the coordinates of the point

expected location of the object

determine the average difference vector

for the obtained series of measurements of the difference vector

, parameters of the obtained averaged difference vector

take for the parameters of the error vector P guidance radiation to the object

where i is the pulse number of the probe radiation from a series of pulses with a total number of pulses equal to M:
i = 1,2,3 ... M.

5. Before the formation of the auxiliary radiation pulse at the time instant immediately preceding this radiation formation, the spatial coordinates of the directivity vector of the axis of the working radiation source are measured in the coordinate system relative to the first given point A ₁ , and at the time of the formation of the auxiliary radiation pulse, the direction of the axis of the auxiliary radiation source set opposite to the measured direction of the axis of the source of the working radiation in the coordinate system rel relative to the first given point A ₁ space.

оси источника рабочего излучения относительно первой заданной точки пространства А₁ осуществляют наведение оси источника рабочего излучения в первую заданную точку пространства А₁ путем введения компенсирующего углового сдвига в направление оси источника рабочего излучения, пропорционального по величине и противоположного по знаку измеренным координатам вектора направленности оси источника рабочего излучения в системе координат относительно первой заданной точки A₁ посредством третьего блока наведения, а последующего определения координат первого вектора разности

и наведения выходной оси первого блока наведения в первую уточненную точку ожидаемого нахождения объекта с координатами

не производят.6. After determining at time t _{1 the} spatial coordinates of the directivity vector

the axis of the working radiation source relative to the first predetermined point of space A ₁ , the axis of the working radiation source is guided to the first predetermined point of space A ₁ by introducing a compensating angular shift in the direction of the axis of the working radiation source, which is proportional in magnitude and opposite in sign to the measured coordinates of the directivity vector of the axis of the working source radiation in the coordinate system relative to the first predetermined point a ₁ via the third guidance unit, as defined later I have the coordinates of the first difference vector

and guidance of the output axis of the first guidance unit to the first specified point of the expected location of the object with coordinates

do not produce.

 7. In a known device for implementing the method according to claim 1, comprising: a first guidance unit, a target illumination laser, a first reflective mirror, a first information processing unit, a first communication unit located in the ground part of the device located on a moving platform of the aircraft (LA) one optical axis, optically coupled to a second guidance unit, a source of working radiation with a pumping unit, a first focusing lens, a wavefront reversal unit (phase conjugation), a reflective mirror with a hole in the center, the first driving gene a radiator with a forming lens, a second information processing unit, a second communication unit, wherein the optical input of the second guidance unit through the reflective mirror with the hole in the center is connected to the optical output of the working radiation source, the output of the first master oscillator is optically connected through the forming lens and the hole in the center of the reflective mirrors with an optical input of the second guidance unit, the second information processing unit is connected to the communication unit and to the pumping unit of the working radiation source, the optical output of the laser Once the target light is connected to the optical input of the first guidance unit via the first reflective mirror, the first information processing unit is connected to the first communication unit and the first guidance unit, a third guidance unit placed on the aircraft platform, a first photodetector unit, a second photodetector located in the ground part of the device , laser auxiliary radiation generator, deflector with control unit, beam splitter with a hole in the center, second reflective mirror with a hole in the center, second I have a focusing lens, a third reflection mirror, an angular compensation unit with a control unit, a plane-parallel plate, an angle reflector, while the laser of the auxiliary radiation, a deflector, a second reflection mirror with a hole in the center, a beam splitter with a hole in the center and a third guidance block are located on one optical axis, the optical input of the first guidance unit is optically connected to the third guidance unit by sequentially located on the second optical axis of the unit y The optical output of the laser of the auxiliary radiation generator is optically connected to the third guidance unit by means of a deflector, the hole in the center of the second reflective mirror and the hole in the center of the beam splitter, the optical input of the first photodetector is optically connected to the optical the input of the first guidance unit through a beam splitting mirror with a hole in the center, plane-parallel plate and block ka of angular compensation, and with the third guidance unit through sequentially mounted and optically coupled beam splitting mirrors with an aperture in the center, a second reflective mirror with an aperture in the center, a second focusing lens and a third reflective mirror, a second photodetector and a corner reflector are placed on the optical output of the second block guidance, and the optical output of the second guidance unit is optically coupled to the third guidance unit through an atmospheric radiation propagation channel, the first Lock information processing is connected to the output of the first photodetector unit, a laser generator and auxiliary radiation deflector units, a control unit and a third angular compensation guidance unit, a second photodetector output is connected to a second information processing unit.

 8. In the device according to claim 7, the first photodetector unit comprises two multi-element photodetectors, two lenses and a beam splitter mirror, the first multi-element photodetector being optically connected to the optical input of the given photodetector unit through the first lens, and the second multi-element photodetector is optically connected to the optical input of the photodetector unit by a first lens, a second beam splitter mirror, and a second lens.

 9. In the device according to claim 7, the laser auxiliary radiation generator comprises optically coupled radiation source sequentially mounted on the optical axis with a pump unit, a Fourier lens, a third beam splitter mirror, an optical shutter unit with a control unit, an angle reflector matrix, a backlight with a second generating a lens, sequentially mounted on a different optical axis, optically coupled to a second master oscillator, a diaphragm, a fourth lens and a fourth multi-element photodetector, wherein the fourth multi-element photodetector is optically connected through the fourth lens and the third beam splitter to the optical shutter block, and through the diaphragm to the output of the second driver, the output of the second driver is connected to the optical input of the radiation source through the diaphragm, the third beam splitter and the Fourier lens, the fourth multi-element photodetector, backlight, optical shutter control unit, second master oscillator and source pump unit I connected to the first information processing unit.

10. In the device according to claim 7, the first and second guidance units are identical and contain two rotary mirrors, two rotation units, three rotation bearings and two rotation units, while the first and second rotation mirrors are placed in the first and second rotation units at an angle of 45 ^o to mutually perpendicular axes of rotation, the first rotation unit is mechanically connected to the base of the guidance unit by the first rotation bearing, the second and third rotation bearings are installed together with the first rotary mirror in the first rotation unit, the second The rotation axis is mechanically connected with the first rotation unit via the second and third rotation bearings, the rotation axis of the rotation units coincide with the optical axes of radiation propagation through the guidance unit, each rotation unit contains a stepper motor, a rotation angle sensor and a communication cell connected to the information processing unit.

 11. In the device according to claim 7, in the second guidance unit, the second photodetector unit and the corner reflector are located on the fourth rotary mirror, and the directions of the optical axes of the second photodetector unit, the corner reflector and the output axis of the guidance unit are parallel.

 12. In the device according to claim 7, the third guidance unit is made in the form of a reflective mirror placed in a double gimbal.

 13. In the device according to claim 7, elements placed on board the aircraft platform are mounted on a vibration-proof base mechanically connected to the aircraft platform.

 14. In the device according to claim 7 on the aircraft platform (LA), the first and third guidance units are mounted on the same optical axis and are optically coupled through a beam splitter mirror made without a hole, the optical input of the first photodetector unit is optically connected to the third guidance unit through sequentially mounted a beam splitter mirror, a focusing lens and a reflective mirror, the output of the laser auxiliary radiation generator is optically connected to the third guidance unit by means of a deflector and again introduced a small reflective mirror mounted on the optical axis between the beam splitting mirror and the third guidance unit.

 15. In the device according to claim 7, the wavefront reversal unit comprises, in series, optically connected to a first cuvette with transparent windows, first and second projection lenses, and a second cuvette with transparent windows sequentially mounted on the optical axis, wherein the first and second cuvettes are filled with a substance in which reverse wave formation.

 In FIG. 1 shows a block diagram of a device that implements the proposed method, where the following notation is introduced.

 1 - Platform aircraft (LA) - aircraft containing the first (2) and second (3) hatches for receiving and directing laser radiation.

 4 - The first block guidance.

 5 - The third block guidance.

 6 - The first block of information processing.

 7 - Laser auxiliary radiation generator.

 8 - Deflector with control unit 62.

 9 - The first photodetector unit.

 10 - Beam splitter mirror with a hole in the center.

 11 - Laser target illumination.

 12 - The first reflective mirror.

 13 - The second reflective mirror with a hole in the center.

 14 - The second focusing lens.

 15 - The third reflective mirror.

 16 - Angular compensation unit with control unit 17.

 67 - Plane-parallel plate.

 The first guidance unit 4 contains the first 18 and second 19 rotary mirrors with the first 20 and second 21 rotation blocks.

 The third guidance unit 5 comprises a reflective mirror 22 located in the double cardan suspension 23 and a control unit 24.

 25 - The first communication unit.

 82 - Vibration protection base.

 83 - Vibration suppression elements.

 Elements pos. 1-25 are located on board the aircraft 1.

 The ground part of the device that implements the method contains the following elements.

 26 - Source of working radiation with a pumping unit 27.

 28 - The first focusing lens.

 29 - Wavefront reversal unit (phase conjugation).

 30 - The second block of information processing.

 31 - The second guidance unit containing the third 32 and fourth 33 rotary mirrors and the third 34 and fourth 35 rotation blocks.

 36 - The second photodetector unit.

 37 - The lens.

 38 - The first multi-element photodetector.

 39 - Reflective mirror with a hole in the center.

 40 - The first master oscillator with a forming lens 41.

 42 - The second communication unit.

 43 - External target designation system - is not part of the device.

 80 - Atmospheric radiation propagation channel.

 Figure 2 presents in more detail a block diagram of part of a device that implements the method, placed on board the aircraft 1. Corresponding elements in figure 2 and figure 1 have the same position numbers. The first photodetector unit 9 contains a second 44 and a third 45 lenses and a second 46 and a third 47 multi-element photodetectors; second beam splitting mirror 48.

The laser auxiliary radiation generator 7 contains the following elements:
49 - A radiation source with a pump unit 50.

 51 - Fourier lens.

 52 - Block optical shutters.

 53 - The matrix of corner reflectors.

 54 - The second master oscillator.

 55 - Aperture.

 56 - Third beam splitting mirror.

 57 - The fourth lens.

 58 - Fourth multi-element photodetector.

 59 - Control unit optical shutter 52.

 60 - Illumination source with a second forming lens 61.

 62 - Deflector control unit.

 63 - The second block of angular compensation with a control unit 64.

 Position 65 in the flowchart of figure 2 indicates the ground part of a device that implements a method containing a source of working radiation 26.

 66 - Corner reflector.

 67 - Plane-parallel plate.

 80 - Atmospheric radiation propagation channel.

 In FIG. 3 shows the course of light rays from the output of the laser auxiliary radiation generator 7 to the ground part of the device 65 and vice versa.

The drawing plane in FIG. 3 coincides with the plane of incidence of the beam e _1- e on the reflective mirror 22. The designations of the positions of the elements correspond to the designations in figure 1, figure 2.

Figure 4 presents a block diagram of a third guidance block 5 (figure 1), where the following elements are indicated:
23 - Double gimbal suspension, consisting of two frames 68, 69.

 70.71 - Stepper motors.

 22 - Reflective mirror.

 24 - Control unit.

 Figure 5 presents a diagram of the structural implementation of the first and second guidance units (item 4, 31 in figure 1, figure 2). Numbers denote the following elements.

 18, 19 - The first and second rotary mirrors.

 72, 73 - The first and second nodes of rotation.

 74 - The base of the guidance unit.

 75, 76, 77 - First, second and third rotation bearings.

 20, 21 - The first and second blocks of rotation based on stepper motors.

 36 - The second photodetector unit.

 66 - Corner reflector.

 In FIG. 5a shows an embodiment of the angular compensation unit 63 (in FIG. 2). The numbers indicate the elements.

 78 - Metal plate.

 79 - Piezoelectric elements.

 64 - Control unit.

In FIG. 6 is a block diagram of a second embodiment of a part of a device that implements a method deployed on board an aircraft LA 1, where the numerical designations of the elements correspond to similar positions of the presented drawings of FIG. 1-5. 81 denotes the newly introduced reflective small-sized mirror mounted on the optical axis A ₃ -A ₁ -A ₂ . The second reflective mirror 13 with a hole in the center (see figure 2) in this second version of the layout is absent (excluded), and the beam splitter mirror 10 is made without a hole in the center.

In Fig.7 presents a block diagram of the wavefront treatment (pos. 29 in Fig. 1), which indicates the following elements:
84 - the first ditch,
85 - the second ditch,
86, 87 - the first and second projection lenses.

In the proposed method and device for its implementation, delivery of working radiation to an object located in space near-Earth orbit is realized. The source of working radiation (pos. 26 in Fig. 1 and Fig. 2) is located on the surface of the earth (or on a water surface, for example, on the deck of a carrier ship). The guidance system of the working radiation to the object is located on board the platform of the aircraft 1 (LA) and consists of the first guidance unit 4 and a number of additional control elements. The radiation is delivered to the object through the atmospheric channel pos. 80 emission paths. The main influence on the parameters of the beam of radiation propagating in the atmosphere is exerted by the surface layer of the atmosphere up to a height of 1000-2000 m. Therefore, high quality compensation of atmospheric turbulence can be realized by the wavefront reversal method (AFF) when the aircraft platform is located with a radiation source for initiating AFF and guidance system at an altitude of 10-20 km above the ground. In accordance with this, in the device that implements the method, a specially equipped aircraft is used as the aircraft platform LA, which is in operational mode in flight at an altitude of 10-15 km at a speed of V _p ≤1000 km / h. Moreover, the distance from the source of working radiation (range in a straight line A ₂ -B ₄ ) is not more than 20-30 km. Moreover, due to the use of phase conjugation, a high quality compensation of atmospheric fluctuations is realized in the radiation propagation channel between the working radiation source 26 and the aircraft platform LA 1, in which the atmospheric surface layer makes the main contribution to the level of fluctuations and radiation distortions. There is practically no distortion of the working radiation during its further propagation from the LA 1 platform to the object at altitudes above 15,000 m above the ground. The generation of powerful working radiation is carried out by reversing the wavefront of the auxiliary radiation, which passed to the OVF block 29 through an atmospheric propagation channel 80 and amplified in a powerful quantum amplifier — a source of working radiation 26. The source of auxiliary radiation in the device that implements the method is a special newly introduced auxiliary laser generator radiation 7, placed on the aircraft platform 1. The formation of auxiliary radiation initiating phase conjugation is carried out on board the platform we are LA 1. The generated auxiliary radiation from the output of the laser of the auxiliary radiation generator 7 is directed to the optical input of the second guidance unit 31 (see Fig. 1), which is part of the ground part of the device 65 that implements the method. Aiming the auxiliary radiation on the optical axis of the working radiation source 26 - at the input of the second guidance unit 31 - is carried out by means of a newly introduced third guidance unit 5 located on board the aircraft LA 1. The task performed by the second and third guidance units 31, 5 is the mutual alignment of the axes the source of auxiliary radiation - a laser generator 7 - and the source of working radiation 26. This operation is carried out until the operating mode of formation of auxiliary and working radiation. When performing operations on the mutual guidance of the axes of the sources of auxiliary and working radiation, the radiation of the first 40 and second 54 master oscillators is used.

 After the formation of the working radiation with the reversed wavefront in the phase conjugation unit 29, the working radiation is guided to the object by the first guidance unit 4. The working radiation from the phase conjugation block 29 passes in the reverse direction through the quantum amplifier — the source of working radiation 26, and then through the second guidance block 31 , the atmospheric channel and the third guidance unit 5, the radiation enters the input of the first guidance unit 4, through which the working radiation is directed to the object at the anticipated meeting point of the moving object and the distribution ostranyayuschegosya radiation.

направления своей оси относительно некоторой главной оси используемой системы координат или параметрами направляющих косинусов - проекций единичного вектора в Декартовой системе координат. В устройстве, реализующем способ, на борту ЛА 1 использована (выбрана) главная система координат с центром в первой заданной точке A₁ пространства и главной осью А₁-А₂, совпадающей с продольной осью ЛА 1 и направлением вектора скорости

ЛА 1 относительно источника рабочего излучения 26. Главная ось ЛА 1 А₂-А₁ соосна (является продолжением) оси А₉-A₈-А₁₀ лазерного генератора вспомогательного излучения 7; таким образом, точки A₉-A₈-A₇-A₁₀-A₁-A₂ лежат на одной прямой и составляют главную ось части устройства, находящейся на борту платформы ЛА (см. фиг.2). Главная ось А₂-А₁ непосредственно переходит в ось А₁-А₃, являющуюся осью оптического входа первого блока наведения 4. Аналогично главная ось А₂-А₁ однозначно связана и переходит во входную оптическую ось первого фотоприемного блока 9 А₁-А₅ и А₁-А₆. Связь направления главной оси A₂-А₁ со входом первого фотоприемного блока 9 осуществлена посредством оптических элементов поз. 13, 14, 15, как показано на фиг.2.The main physical objects that are operated on in the proposed method are laser (light) beams, also called radiation in the text, characterized by the directional vector (or direction) of the axis of the radiation pattern. In the text, for abbreviation, the word “radiation patterns” is omitted and the term is used: the direction vector of the radiation axis, or the direction vector (direction) of the radiation source axis. The latter is understood to mean some measurable hardware parameter of the radiation source (laser), characterizing the direction of the radiation axis vector, which will be generated by this radiation source in the operating mode - in the radiation generation mode. The directional vector of the axis is a unit vector and is characterized, for example, by angular coordinates

directions of its axis relative to some main axis of the coordinate system used or by the parameters of the guiding cosines - projections of the unit vector in the Cartesian coordinate system. In the device that implements the method, the main coordinate system with the center at the first given point A _{1 of the} space and the main axis A ₁ -A ₂ coinciding with the longitudinal axis of the aircraft 1 and the direction of the velocity vector is used (selected) on board the aircraft LA 1

LA 1 relative to the source of working radiation 26. The main axis of LA 1 A ₂ -A _{1 is} coaxial (a continuation) of the axis A ₉ -A ₈ -A _{10 of the} laser of the auxiliary radiation generator 7; thus, the points A ₉ -A ₈ -A ₇ -A ₁₀ -A ₁ -A ₂ lie on one straight line and make up the main axis of the part of the device on board the aircraft platform (see figure 2). The main axis A ₂ -A ₁ directly goes into the axis A ₁ -A ₃ , which is the axis of the optical input of the first guidance unit 4. Similarly, the main axis A ₂ -A _{1 is} uniquely connected and goes into the input optical axis of the first photodetector block 9 A ₁ -A ₅ and A ₁ -A ₆ . The connection of the direction of the main axis A ₂ -A ₁ with the input of the first photodetector unit 9 is carried out by means of optical elements pos. 13, 14, 15, as shown in FIG.

определяемом, например, угловыми координатами φ_x, φ_y относительно неподвижной оси А₃-A₁, однозначно и жестко связанной с главной осью А₂-А₁. Действие первого блока наведения 4 (и других блоков наведения) можно характеризовать оператором, переводящим вектор направления входной оси А₁-А₃ в направление вектора выходной оси А₄-О₃. Направление в пространстве выходной оси первого блока наведения 4 совпадает с направлением распространения светового луча, который на входе в блок наведения 4 распространялся по направлению входной оси А₁-А₃.The first guidance unit 4 is characterized by its input axis (optical) A ₁ -A ₃ rigidly connected to the main axis A ₃ -A ₁ . The first guidance unit 4 is characterized by the output (optical) axis A ₄ -O ₃ , the direction of which in space is set using rotation blocks 20, 21, and is characterized by the directional vector of the output axis

defined, for example, by the angular coordinates φ _x , φ _y relative to the fixed axis A ₃ -A ₁ , uniquely and rigidly connected with the main axis A ₂ -A ₁ . The action of the first guidance unit 4 (and other guidance units) can be characterized by the operator translating the direction vector of the input axis A ₁ -A ₃ in the direction of the vector of the output axis A ₄ -O ₃ . The direction in space of the output axis of the first guidance unit 4 coincides with the direction of propagation of the light beam, which at the entrance to the guidance unit 4 propagated in the direction of the input axis A ₁ -A ₃ .

определяющим направление этой оси относительно первой заданной точки А₁. Вектор

является также вектором направления входной оси первого фотоприемного блока 9

Соответственно вектор

перпендикулярен вектору

- единичному вектору направления главной оси А₁₀-А₁-А₂.The input axis A ₁ -A _{3 is} characterized by a unit direction vector

determining the direction of this axis relative to the first predetermined point A ₁ . Vector

is also a direction vector of the input axis of the first photodetector 9

Accordingly, the vector

perpendicular to the vector

- a unit direction vector of the main axis A ₁₀ -A ₁ -A ₂ .

 The formation of the working radiation, its guidance and delivery to the object is as follows.

дальности до объекта R₀(t₀) и скорости объекта

относительно первой заданной точки A₁. Точка А₁ является центром системы координат, связанной с платформой летательного аппарата (ЛА) 1. Собственно система координат может быть выбрана Декартовой (прямоугольной), сферической, цилиндрической или любой другой. В дальнейшем будем использовать прямоугольную систему координат, связанную с точкой А₁, при этом пространственные координаты объекта будем характеризоваться дальностью R₀ до объекта и направлением единичного вектора

направленного от платформы ЛА (точка А₁) в точку расположения объекта. Вследствие движения ЛА относительно источника рабочего излучения 26, находящегося на земле, и относительно объекта в системе координат А₁, неподвижной относительно платформы ЛА, как объект, так и источник рабочего излучения 26 являются движущимися элементами. В дальнейшем первая заданная точка А₁ обозначает и систему координат, связанную с ЛА. Для определения координат объекта выходную (визирную) ось первого блока наведения (см. фиг.2) направляют на область пространства, в которой предполагается нахождение объекта. Данную операцию осуществляют на основе информации о предполагаемых координатах объекта, которая поступает от системы внешнего целеуказания 43 через блоки связи 42, 25 на борт ЛА и далее через блок обработки информации 6 на блоки вращения 20, 21 поворотных зеркал 18, 19. Выходная (визирная) ось первого блока наведения 4 представляет собой прямую, проходящую через точку А₄ - центр второго поворотного зеркала 19 - в плоскости, перпендикулярной плоскости зеркала 19 и под углом 45^o к нормали

этого зеркала. На фиг.2 выходная ось первого блока наведения 4 условно показана в виде прямой, проведенной из точки А₄ в точку О₃ предполагаемого нахождения объекта. Поворотные зеркала 18, 19 работают в режиме постоянного угла φ_пад падения излучения на поверхность зеркала, равного φ_пад = 45^°. С помощью блоков вращения 20, 21 осуществляют поворот зеркал 18, 19 по двум взаимно перпендикулярным осям, а именно: по азимутальной оси φ_AZ с помощью блока 20 и по оси угла места φ_M с помощью блока вращения 21. В результате этого выходная ось А₄-О₃ может быть развернута и установлена в любом заданном пространственном направлении. Для определения параметров движения объекта осуществляют его подсвет с помощью лазера подсвета цели 11, диаграмма направленности которого перекрывает зону предполагаемого нахождения объекта. Отраженное от объекта излучение поступает в обратном ходе на вход первого блока наведения 4 и далее распространяется вдоль оптической оси А₄-А₃-A₁-А₅ (см. фиг. 2) и поступает на вход первого фотоприемного блока 9. Изображение картинной плоскости объекта в пределах зоны нахождения объекта, подсвеченной лазером подсвета цели 11, формируют в плоскости фоточувствительной площадки второго многоэлементного фотоприемника 46 с помощью второго объектива 44. Одновременно изображение центральной части зоны нахождения объекта в увеличенном масштабе формируют на входе третьего многоэлементного фотоприемника 47 с помощью третьего объектива 45.At some arbitrary point in time t ₀ determine the coordinates of the object

the distance to the object R ₀ (t ₀ ) and the speed of the object

relative to the first given point A ₁ . Point A ₁ is the center of the coordinate system associated with the platform of the aircraft (LA) 1. Actually, the coordinate system can be selected by Cartesian (rectangular), spherical, cylindrical or any other. In the future, we will use a rectangular coordinate system associated with the point A ₁ , while the spatial coordinates of the object will be characterized by the distance R ₀ to the object and the direction of the unit vector

directed from the aircraft platform (point A ₁ ) to the point of location of the object. Due to the movement of the aircraft relative to the source of the working radiation 26 located on the ground, and relative to the object in the coordinate system A ₁ , stationary relative to the platform of the aircraft, both the object and the source of working radiation 26 are moving elements. Subsequently, the first predetermined point A ₁ denotes the coordinate system associated with the aircraft. To determine the coordinates of the object, the output (target) axis of the first guidance unit (see Fig. 2) is sent to the area of space in which the object is supposed to be located. This operation is carried out on the basis of information about the estimated coordinates of the object, which comes from the external target designation system 43 through communication units 42, 25 on board the aircraft and then through the information processing unit 6 to rotation units 20, 21 of the rotary mirrors 18, 19. Output (sight) the axis of the first guidance unit 4 is a straight line passing through point A ₄ - the center of the second rotary mirror 19 - in a plane perpendicular to the plane of the mirror 19 and at an angle of 45 ^o to the normal

this mirror. In Fig.2, the output axis of the first guidance unit 4 is conventionally shown as a straight line drawn from point A ₄ to point O _{3 of the} alleged location of the object. Turning mirrors 18, 19 operate in a constant angle of incidence φ _pad on the mirror surface, _{the pad} equal φ = 45 ^°. Using rotation units 20, 21, the mirrors 18, 19 are rotated along two mutually perpendicular axes, namely: along the azimuthal axis φ _AZ using the unit 20 and along the elevation axis φ _M using the rotation unit 21. As a result, the output axis A ₄ -O ₃ can be deployed and installed in any given spatial direction. To determine the parameters of the object’s movement, it is illuminated using a laser to illuminate the target 11, the radiation pattern of which covers the zone of the alleged location of the object. The radiation reflected from the object is fed back to the input of the first guidance unit 4 and then propagated along the optical axis A ₄ -A ₃ -A ₁ -A ₅ (see Fig. 2) and fed to the input of the first photodetector unit 9. Image of the picture plane the object within the zone of the object, illuminated by the laser illuminating the target 11, is formed in the plane of the photosensitive area of the second multi-element photodetector 46 using the second lens 44. Simultaneously, the image of the Central part of the zone of the object in an enlarged scale f shape at the entrance of the third multi-element photodetector 47 using the third lens 45.

в широком угловом поле зрения - в пределах всей зоны пространства, подсвеченной лазером подсвета цели 11, а фотоприемник 47 осуществляет определение координат в узком поле зрения с высокой точностью. Точки А₆, A₅ определяют центры площадок многоэлементных фотоприемников 46, 47 и соответствуют первой заданной точке A₁. Координаты объекта с помощью фотоприемников 46, 47 определяют по величине смещения Δx, Δy фоточувствительного элемента многоэлементного фотоприемника 46, 47 относительно его центра A₅, А₆, в котором уровень принятого сигнала от объекта превысил некоторый установленный порог. Координаты объекта при этом будут равны следующим величинам:
Θ_x = Θ_ox+φ_AZ (1)
Θ_y = Θ_oy+φ_M
где Θ_ox = Δx•f $\genfrac{}{}{0ex}{}{\text{-1}}{\text{л}}$ , Θ_oy = Δy•f $\genfrac{}{}{0ex}{}{\text{-1}}{\text{л}}$ ,
Величины Δx, Δy - координаты элемента (ячейки) в многоэлементном фотоприемнике 46, 47, в котором превышен пороговый уровень сигнала. (Δx и Δy отсчитывают от центра - точки А₅, А₆).Using the photodetectors 46, 47, the angular coordinates Θ _ox , Θ _{oy of the} direction of the object relative to the fixed axis A ₁ -A ₃ are determined. In this case, the multi-element photodetector 46 determines the coordinates of the object

in a wide angular field of view - within the entire area of space illuminated by the laser illuminating the target 11, and the photodetector 47 performs the determination of coordinates in a narrow field of view with high accuracy. Points A ₆ , A ₅ define the centers of the multiple-array photodetector platforms 46, 47 and correspond to the first predetermined point A ₁ . The coordinates of the object using the photodetectors 46, 47 are determined by the displacement Δx, Δy of the photosensitive element of the multi-element photodetector 46, 47 relative to its center A ₅ , A ₆ , in which the level of the received signal from the object exceeded a certain threshold. The coordinates of the object will be equal to the following values:
Θ _x = Θ _ox + φ _AZ (1)
Θ _y = Θ _oy + φ _M
where Θ _ox = Δx • f $\genfrac{}{}{0ex}{}{\text{-1}}{\text{l}}$ , Θ _oy = Δy • f $\genfrac{}{}{0ex}{}{\text{-1}}{\text{l}}$ ,
The values Δx, Δy are the coordinates of the element (cell) in the multi-element photodetector 46, 47, in which the threshold signal level is exceeded. (Δx and Δy are counted from the center - points A ₅ , A ₆ ).

f _l - the equivalent focal length of the lenses 44 or 45.

The values of φ _AZ and φ _M determine the angle of rotation of the axis A ₃ -A ₄ relative to the fixed axis A ₃ -A ₁ (φ _AZ ) and, accordingly, the angle of rotation of the output axis A ₄ -O ₃ relative to the axis A ₃ -A ₄ .

складываются из координат (угловых) вектора

относительно неподвижной оси А₁-А₃ (определяемых фотоприемниками 46, 47) и координат направления визирной оси А₄-О₃

определяемые и задаваемые блоками вращения 20, 21. Первый фотоприемный блок 9 осуществляет, таким образом, определение координат (угловых) единичного вектора направления на объект

относительно вектора

направления оси А₁-А₃, т.е. координаты (угловые) вектора разности

- единичный вектор абсолютного направления на объект относительно внешней независимой системы координат, например, относительно источника рабочего излучения 26. При

имеем

т.е. измеряемый вектор

является нуль - вектором, если вектор

абсолютного направления на объект совпадает (параллелен) вектору направления оси

Представленное соотношение

является определением выполняемой первым фотоприемным блоком 9 операции определения координат

относительно оси A₁-А₃ в системе координат, связанной с первой заданной точкой А₁.As was noted, multi-element photodetectors 46, 47 determine the coordinates of the object according to (1), respectively, with medium (46) and high accuracy (photodetector 47). Further, in the description text, no distinction is made between the parameters issued by the photodetectors 46 or 47, since the operations for using this information are the same. It is assumed that in later operations to determine the coordinates of the object and the parameters of the light beams to obtain higher accuracy using information generated by a multi-element photodetector 47, operating with high accuracy in a narrow field of view. Information about the measured coordinates of the object Θ _{x, y} from the outputs of the multi-element photodetectors 46, 47 is received in the information processing unit 6. In this case, information on the values of the angles φ _AZ and φ _M enters the block 6 from the rotation units 20, 21, from the corresponding rotation angle sensors which are provided with blocks 20, 21. Thus, the coordinates of the direction vector to the object

add up from the coordinates (angular) of the vector

relative to the fixed axis A ₁ -A ₃ (determined by photodetectors 46, 47) and the coordinates of the direction of the sight axis A ₄ -O ₃

determined and set by rotation units 20, 21. The first photodetector unit 9 thus determines the coordinates (angular) of a unit direction vector to the object

relative to the vector

the direction of the axis A ₁ -A ₃ , i.e. coordinates (angular) of the difference vector

- a unit vector of the absolute direction to the object relative to an external independent coordinate system, for example, relative to the source of working radiation 26. When

we have

those. measured vector

is zero - a vector if the vector

absolute direction to the object coincides (parallel) with the axis direction vector

Presented ratio

is the determination of the operation of determining the coordinates performed by the first photodetector unit 9

relative to the axis A ₁ -A ₃ in the coordinate system associated with the first given point A ₁ .

The distance to the object R _о is also determined in photodetectors 46, 47 according to the moment of arrival of the radiation pulse reflected from the object, relative to the time of emission of this pulse by the target illumination laser 11. Information about the value of R _o also enters the processing unit 6 from the photodetectors 46, 47 and from the laser illuminating the target 11 in the form of time instants of radiation and receiving signals from the object. The polarization of the radiation from the laser illuminating the target 11 is selected such that this radiation freely passes through the beam splitter mirror 10 (with a hole in the center). This beam splitting mirror 10 is made with a special beam splitting polarizing coating, transmitting radiation from an object with a polarization vector lying, for example, in the plane of the mirror 10. The working radiation coming from the source of working radiation 26, and after reflection from the mirror 22, has a polarization perpendicular to the polarization radiation from the object. The working radiation is not transmitted through the beam splitting mirror 10, but is reflected from it to the input of the first guidance unit 4.

где

и

- угловые координаты объекта в последовательные моменты времени t_o и t_o+Δt;
Δt - малый фиксированный промежуток времени;
R_o(t_o) - дальность до объекта, измеренная в момент времени t_o .Using the guidance unit 4, the target illumination laser 11 operating in a pulsed-periodic mode of radiation, the first photodetector unit 9 and the information processing unit 6, the object is continuously monitored, its current coordinates are determined, starting from time t _o , and also and calculate the tangential component of the velocity V _{ot of the} object according to the formula

Where

and

- the angular coordinates of the object at successive times t _o and t _o + Δt;
Δt is a small fixed period of time;
R _o (t _o ) - the distance to the object, measured at time t _o .

относительно первой заданной точки пространства А₁ в момент времени t_o. На основании этих данных осуществляют прогнозирование и определение координат объекта

для любого заданного последующего момента времени t на основании следующего векторного соотношения:

где С - скорость света;

- единичный вектор координат объекта относительно точки А₁ в момент времени t_o;

- скорость объекта в момент t₀ относительно точки A₁;

- вектор координат объекта относительно точки А₁ в момент времени t>t_o.The radial velocity of an object is measured, for example, on the basis of determining the change in the distance to the object ΔR for a small period of time Δt. The obtained and measured data determine the coordinates and the velocity vector of the object

relative to the first given point of space A ₁ at time t _o . Based on these data, forecasting and determining the coordinates of the object are carried out

for any given subsequent point in time t based on the following vector relation:

where C is the speed of light;

- the unit vector of the coordinates of the object relative to the point A ₁ at time t _o ;

- the speed of the object at time t ₀ relative to the point A ₁ ;

is the coordinate vector of the object relative to point A ₁ at time t> t _o .

считают постоянной величиной, так как определение координат и наведение излучения на объект осуществляют за достаточно малые промежутки времени. Возможно использование также других эмпирических и вероятностных методов прогнозирования положения объекта в некоторой ожидаемой точке

, координаты которой определяют на основании измеренных координат объекта

в момент времени t_o.Object Speed

consider a constant value, since the determination of coordinates and the guidance of radiation on the object is carried out for a sufficiently small period of time. It is also possible to use other empirical and probabilistic methods for predicting the position of an object at some expected point

whose coordinates are determined based on the measured coordinates of the object

at time t _o .

, определяют в блоке обработки информации 6 на основании определения расстояния Н между платформой ЛА и источником рабочего излучения 26 (на фиг.2). Данное расстояние Н принимается равным расстоянию между первой заданной точкой A₁ на платформе ЛА и точкой В₁, определяющей центр отражательного зеркала 39 (с отверстием в центре) (см. фиг.1).The time interval (tt _o ) necessary for pointing the working radiation to the point of the expected location of the object

are determined in the information processing unit 6 based on the determination of the distance H between the aircraft platform and the working radiation source 26 (in FIG. 2). This distance H is taken equal to the distance between the first predetermined point A ₁ on the aircraft platform and point B ₁ defining the center of the reflective mirror 39 (with a hole in the center) (see Fig. 1).

 The magnitude of the distance H is obtained, for example, according to external target designation from the VTSU 43 system, which continuously provides information on the motion parameters of the aircraft platform LA 1 through communication units 25, 42 to the input of the information processing unit 6. At the same time, data on the value 6 distance H (t) at any current and future time t.

 It is possible to determine the distance H by the location method using the second master oscillator 54 located on board the aircraft and included in the laser generator 7. The radiation pulse from the master oscillator 54 is directed using the third guidance unit 5 towards the working radiation source 26 (see Fig. 2). The reception of the pulse is carried out using the second photodetector unit 36, the output signal of which is supplied to the second information processing unit 30. The moment of radiation of the pulse by the generator 54 and reception by the photodetector unit 36 is compared in the information processing units 6 and 30 with the current signals of a single time from the external target designation 43. Based on this comparison, in block 30, the time interval between emission and reception of a pulse in the photodetector block 36, which determines the distance N., is determined. This information on the communication channel 42-25 pos upaet on board the aircraft. It is also possible to receive the pulse emitted by the master oscillator 54 after reflecting it from the working radiation source 26 by the first photodetector unit 9 and determining, on this basis, the distance H in the information processing unit 6 by the signal from the photodetector unit 9. The radiation of the second master oscillator 54 is reflected from corner reflector 66 located at the input of the second guidance unit 31, i.e. in the immediate vicinity of the working radiation source 26. (The distance between the corner reflector 66 and the working radiation source 26 is fixed and known).

R_o(t_o) и

в момент времени t_o определяют координаты

точки О₃ ожидаемого нахождения объекта в некоторый будущий прогнозируемый момент времени t₃. В направлении на эту точку О₃ с направлением вектора

осуществляют разворот выходной оси первого блока наведения 4 (ось А₄-О₃ на фиг.2). Первый блок наведения 4 переводят в режим слежения за некоторой точкой О₃ предполагаемого нахождения объекта в прогнозируемый момент времени t₃ доставки излучения на объект.Information on the distance H characterizes the time interval T = 2H / C between the formation of the auxiliary radiation pulse using a laser auxiliary radiation generator 7 and the arrival of the working radiation pulse with a reversed wavefront at the first given point A ₁ on the aircraft platform. Based on information about the time interval T = 2H / C and previously determined object coordinates

R _o (t _o ) and

at time t _o determine the coordinates

point O _{3 the} expected location of the object at some future predicted point in time t ₃ . In the direction of this point O ₃ with the direction of the vector

carry out a turn of the output axis of the first guidance unit 4 (axis A ₄ -O ₃ in figure 2). The first guidance unit 4 is put into tracking mode for some point O _{3 of the} alleged location of the object at the predicted time t _{3 the} delivery of radiation to the object.

The tracking mode of the first guidance unit 4 is characterized by the following time relationships:
The moment of arrival of t ₃ working radiation on the object is
t ₃ = t _o1 + T + t ₀₂ (3),
where t _o1 is the moment of radiation of the pulse of the auxiliary radiation by the laser generator 7;
T is the time interval T = 2H / C (4);
t _o2 - the time period of propagation of the working radiation from the first given point A ₁ to the point of location of the object O ₃ at time t ₃ .

ожидаемого нахождения объекта в прогнозируемый момент времени t₃, а также значение этого момента времени относительно t_o определяют на основе решения следующей системы из четырех уравнений, соответствующих векторному соотношению (2):

i=1, 2, 3.Point coordinates

the expected location of the object at the predicted time t ₃ , as well as the value of this time relative to t _o is determined based on the solution of the following system of four equations corresponding to the vector relation (2):

i = 1, 2, 3.

In the system of equations (5), the unknown quantities are t ₃ , Θ ₃₁ , Θ ₃₂ , Θ ₃₃ .

- единичный вектор координат объекта в момент времени t_o;

= (V_o1; V_o2; V_o3); R_o(t_o) - соответственно вектор скорости объекта и дальность до объекта в момент времени t_o.Here

is the unit vector of the coordinates of the object at time t _o ;

= (V _o1 ; V _o2 ; V _o3 ); R _o (t _o ) - respectively, the velocity vector of the object and the distance to the object at time t _o .

The time t ₂ in (5) corresponds to the arrival of a pulse of working radiation with a reversed wavefront at the first given point A ₁ .

The value of t ₃ -t ₂ = t _o2 . From here and from (3), the time t ₂ is
t ₂ = t _o1 + T = t _o1 + 2H / C (6),
where t _o1 is the time moment of formation of the auxiliary radiation pulse by the laser generator of auxiliary radiation 7. All time moments are counted from the initial moment of time t _about determining the coordinates of the object, which can be taken equal to zero t _o = 0.

и параметры движения объекта

R_o(t_o).Thus, the tracking mode of the anticipated point O _{3 the} expected location of the object is characterized by the following operations:
1). At some arbitrary point in time t _about determine the coordinates

and object motion parameters

R _o (t _o ).

2). The time interval T = 2H / C is determined based on information about the distance between the aircraft platform and the source of working radiation located on the ground for time t _o and subsequent time instants. (T _o1 ....).

3). A priori, the start time of the laser generator 7 is selected equal to t _o1 > t _o .

направления из первой заданной точки А₁ в точку О₃ ожидаемого нахождения объекта. По полученным величинам

в блоке обработки информации 6 вырабатывают управляющие сигналы, поступающие на блоки вращения 20, 21, в результате чего обеспечивают направление выходной оси А₄-О₃ первого блока наведения 4 в точку ожидаемого нахождения объекта с координатами

Режим слежения за объектом обеспечивается контуром наведения, в который входят следующие элементы, находящиеся на борту ЛА 1:
- первый блок наведения 4, выходная ось которого А₄-О₃ является управляемой;
- первый фотоприемный блок 9, определяющий текущие координаты объекта относительно точки A₁ и неподвижной оси A₁-А₃, информация о которых поступает в блок 6;
- блок обработки информации 6, осуществляющий анализ текущего положения объекта, определение прогнозируемых координат объекта, определение на основе (5), (6) координат

точки ожидаемого положения объекта и выработку управляющих сигналов, поступающих в блоки вращения 20, 21 для направления выходной оси первого блока наведения 4 в указанную точку ожидаемого нахождения объекта с координатами

В данном установленном режиме слежения за упрежденной точкой О₃ ожидаемого нахождения объекта, когда выходная ось первого блока наведения 4 направлена в указанную точку О₃, исходное видимое изображение объекта в момент времени t_o (точечное) будет смещено в плоскости фоточувствительной площадки первого фотоприемного блока 9 на величину

которая в угловых единицах равна

Здесь, как и ранее, скорость объекта

полагаем постоянной в пределах времени слежения и наведения излучения. (Величина t₃ определяется из (5) по заданным величинам t_o1 и H(t_o1);

Величина

характеризует угловое смещение точечного изображения объекта за промежуток времени t₃-t_o.For this point in time t _o1 determine the value of H (t _o1 ) and on the basis of (6) and the system of equations (5) calculate the unit parameters in the information processing unit 6

directions from the first predetermined point A ₁ to point O _{3 of the} expected location of the object. According to the obtained values

in the information processing unit 6, control signals are generated that enter the rotation units 20, 21, as a result of which they provide the direction of the output axis A ₄ -O _{3 of the} first guidance unit 4 to the point of the expected location of the object with coordinates

The tracking mode for the object is provided by the guidance loop, which includes the following elements on board the aircraft 1:
- the first guidance unit 4, the output axis of which A ₄ -O ₃ is controllable;
- the first photodetector unit 9, which determines the current coordinates of the object relative to the point A ₁ and the fixed axis A ₁ -A ₃ , information about which is received in block 6;
- information processing unit 6, analyzing the current position of the object, determining the predicted coordinates of the object, determining based on (5), (6) the coordinates

points of the expected position of the object and the generation of control signals entering the rotation blocks 20, 21 to direct the output axis of the first guidance block 4 to the specified point of the expected location of the object with coordinates

In this set tracking mode for the lead point O _{3 of the} expected location of the object, when the output axis of the first guidance unit 4 is directed to the specified point O ₃ , the initial visible image of the object at time t _o (point) will be shifted in the plane of the photosensitive area of the first photodetector unit 9 by the amount

which in angular units is equal to

Here, as before, the speed of the object

we consider constant within the time of tracking and pointing radiation. (The value of t ₃ is determined from (5) from the given values of t _o1 and H (t _o1 );

Value

characterizes the angular displacement of a point image of an object over a period of time t ₃ -t _o .

Further, according to the proposed method, before forming the auxiliary radiation, the axis of the auxiliary radiation source is guided to the axis of the working radiation source 26 located on the ground. To do this, use the radiation of the second master oscillator 54, which is part of the laser auxiliary radiation generator 7, and the actual generation of auxiliary radiation through the radiation source 49 is not produced. The radiation of the master oscillator 54 carries out the suspension of the axis of the auxiliary radiation without generating it. The master oscillator 54 forms a narrow beam passing through the diaphragm 55 and arriving at point A ₇ aligned (or closely located along the axis) with the focus of the Fourier lens 51. The latter forms a planar light beam propagating strictly along the axis A _7- A _{10 of the} laser generator 7 and defining this axis. The operation of the laser generator 7 is described in more detail below. The generated light beam passes through the holes in the mirrors 13, 10, through the deflector 8, which is initially in the zero deflection position of the beam, then the reflection beam 22 is deflected by the reflection mirror 22 of the third guidance unit 5 and directed (as shown in Fig. 2) to the working radiation source 26 The light beam enters the optical input of the second photodetector unit 36 and is registered as a light spot focused by the lens 37 at the input of the first multi-element photodetector 38. The second photodetector unit 36 is placed directly on the fourth rotary mirror 33 in such a way that the sight axis of the given photodetector unit 36 and the output axis of the second guidance unit 31 are parallel. When moving (rotating) the rotary mirror 33, these axes move in space together and remain parallel. Aiming the axis of the auxiliary radiation source is carried out by successively changing the direction in space of the axes of the second and third guidance blocks 31 and 5. The criterion for achieving the optimal guidance result is the establishment of a spot from the radiation of the second master oscillator 54 in the center of the photosensitive area of the second photodetector unit 38. This is achieved by supplying the corresponding control signals from information processing units 30, 6 to rotation units 34, 35 and control unit 24 of the third guidance unit 5. Information about the result of guidance and the position of the light spot comes from the output of the second photodetector unit 36 to the second information processing unit 30, and through it and communication units 42, 25 to the first information unit 6. Next, the second guidance unit 31 carries out the tracking mode of the aircraft platform according to the criterion finding the light spot from the second master oscillator 54 in the center of the photosensitive area of the second photodetector unit 36.

 To implement this tracking mode form a control loop, which includes the following elements: a second master oscillator 54, a second photodetector block 36; a second information processing unit 30; second guidance unit 31.

The third guidance unit 5 is also set to a position that provides the indicated position of the light spot in the photodetector unit 36. As a result, the axis of the laser generator 7 of the auxiliary radiation source A ₇ -A _{10 is} set coaxially with the output axis of the second guidance unit 31 B ₄ -B ₅ , and therefore and coaxially to the axis B ₁ -B ₂ source of working radiation 26, 29 (see figure 1). Indeed, the radiation of the second master oscillator 54, the axis of which coincides with the direction of the axis A ₇ -A _{10 of the} laser generator 7 from the point A ₇ , propagates in the following direction (see figure 1 and figure 2):
A ₇ -A ₁₀ -A ₁ -A ₂ -B ₅ -B ₄ -B ₃ -B ₁ -B ₂ .

Thus, the axis of the laser auxiliary radiation generator 7 and the working radiation source 26, 29 V ₁ -B ₂ are mutually combined.

вектора направленности оси источника рабочего излучения в системе координат относительно первой заданной точки пространства А₁ в момент времени t₁. Определение координат указанного вектора осуществляют следующим способом. Осуществляют формирование (генерацию) зондирующего лазерного излучения посредством первого задающего генератора 40, входящего в состав части аппаратуры устройства, регистрирующего способ, 65 расположенного на земле (см. фиг.1). Формирующая линза 41 формирует параллельный световой поток, центральная часть которого проходит через небольшое отверстие (диаметр 2-5 мм) в центре отражательного зеркала 39. Далее лазерное излучение распространяется по направлению, указанному на фиг.1 и фиг.2 точками В₁-B₃-B₄-B₅-А₂-A₁. Таким образом, излучение первого задающего генератора 40 определяет (материализует) направление оси рабочего излучения, которое далее будет сформировано в результате совместной работы лазерного генератора вспомогательного излучения 7, источника рабочего излучения 26 и блока ОВФ 29.Next, determine the spatial coordinates

the directional vector of the axis of the source of working radiation in the coordinate system relative to the first given point in space A ₁ at time t ₁ . The determination of the coordinates of the specified vector is as follows. The probing laser radiation is generated (generated) by means of the first master oscillator 40, which is part of the apparatus part of the device registering the method 65 located on the ground (see Fig. 1). The forming lens 41 forms a parallel light stream, the central part of which passes through a small hole (2-5 mm in diameter) in the center of the reflective mirror 39. Next, the laser radiation propagates in the direction indicated in Fig. 1 and Fig. 2 by points B ₁ -B ₃ -B ₄ -B ₅ -A ₂ -A ₁ . Thus, the radiation of the first master oscillator 40 determines (materializes) the direction of the axis of the working radiation, which will then be formed as a result of the joint operation of the laser of the auxiliary radiation generator 7, the working radiation source 26 and the phase conjugation unit 29.

The diameter of the light beam of this radiation received on board the aircraft 1, is determined by the diameter of the mirrors 22, 10, 13. The polarization of this radiation is selected so that the beam splitter mirror 10 operates in the transmission mode of radiation. The probe laser radiation then passes in the direction indicated by points A ₁ -A ₁₀ -A ₁₁ through the beam splitter mirror 10, is reflected from the second reflective mirror 13, to the input of the second focusing lens 14, which focuses the light flux into the plane of the third reflective mirror 15. Next the luminous flux is reflected at point A ₁₁ , combined with the focus of the second focusing lens 14 and in the reverse direction passes in the direction indicated by points A ₁₁ -A ₁₀ -A ₁ -A ₅ , A ₆ , enters the input of the first photodetector unit 9 and focuses in pl -plane of photosensitive sites (points A _5, A ₆₎ multielement photodetector 46, 47.

вектора направления оси рабочего излучения в системе координат, связанной с первой заданной точкой А₁ в соответствии с соотношением:

где Δx_p, Δy_p - отклонение светового пятна от зондирующего излучения задающего генератора 40 в плоскости фотоприемников 46,47 от центра (точки A₅, А₆); f_л - фокусное расстояние объективов 44, или 44, 45 для грубого и точного определения угловых координат в первом фотоприемном блоке 9 (см. фиг. 2). Полученные координаты

являются, как было показано выше, координатами разностного вектора

и характеризуют отклонение вектора направленности оси рабочего излучения от направления вектора

оси A₁-А₃ при распространении рабочего излучения по направлению А₂-А₁-А₃ на оптический вход первого блока наведения 4.Using the first photodetector unit 9 determine the angular coordinates

the direction vector of the axis of the working radiation in the coordinate system associated with the first given point A ₁ in accordance with the ratio:

where Δx _p , Δy _p is the deviation of the light spot from the probe radiation of the master oscillator 40 in the plane of the photodetectors 46.47 from the center (points A ₅ , A ₆ ); f _l - the focal length of the lenses 44, or 44, 45 for rough and accurate determination of the angular coordinates in the first photodetector unit 9 (see Fig. 2). Coordinates received

are, as shown above, the coordinates of the difference vector

and characterize the deviation of the directivity vector of the axis of the working radiation from the direction of the vector

axis A ₁ -A ₃ during the propagation of working radiation in the direction A ₂ -A ₁ -A ₃ to the optical input of the first guidance unit 4.

между координатами

точки ожидаемого нахождения объекта и координатами вектора направленности

оси источника рабочего излучения относительно первой заданной точки пространства А₁:

Данную операцию осуществляют с помощью первого блока обработки информации 6. Полученные угловые координаты первого вектора разности

характеризуют угловые координаты первой уточненной точки ожидаемого нахождения объекта

, в направлении которой учтены как параметры точки

ожидаемого нахождения объекта вследствие его движения, так и параметры рассогласования оси рабочего излучения

относительно входной оси А₁-А₃ первого блока наведения 4, задаваемой вектором

Для компенсации последнего согласно способу далее осуществляют наведение выходной оси первого блока наведения в первую уточненную точку ожидаемого нахождения объекта с координатами

равными первому вектору разности

Этим осуществляют наведение реального направления оси источника рабочего излучения из первой заданной точки A₁ точно в точку

ожидаемого нахождения объекта. Действительно, первый блок наведения 4 осуществляет операцию преобразования (перевода) направления неподвижной прямой А₁-А₃ (см. фиг.2) в направление прямой А₄-О₃, направленной в точку ожидаемого нахождения объекта О₃ с координатами вектора

направления в эту точку, полученными ранее в соответствии с (5). Алгоритм действия первого блока наведения 4 можно представить оператором Р₁:

где

- вектор направления оси светового пучка на входе первого блока наведения 4 относительно точки А₁;

- вектор управления вращения оси А₁-А₃, осуществляемого поворотными зеркалами 19, 18 относительно неподвижной оси A₁-А₃;

- вектор направления оси светового пучка на выходе первого блока наведения 4, при

и

При нулевых величинах (8) угловых координат

вектора направления оси рабочего излучения вектор направления

на выходе блока наведения 4 будет иметь следующие угловые координаты, в соответствии с (11) вследствие ранее установленного направления выходной оси блока наведения 4

.Further, according to the proposed method, the coordinates of the first difference vector are determined

between coordinates

points of the expected location of the object and the coordinates of the directivity vector

the axis of the source of working radiation relative to the first given point in space A ₁ :

This operation is carried out using the first information processing unit 6. The obtained angular coordinates of the first difference vector

characterize the angular coordinates of the first specified point of the expected location of the object

in the direction of which are taken into account as parameters of the point

the expected location of the object due to its motion, as well as the parameters of the mismatch of the axis of the working radiation

relative to the input axis A ₁ -A _{3 of the} first guidance unit 4, defined by the vector

To compensate for the latter, according to the method, the output axis of the first guidance unit is then guided to the first specified point of the expected location of the object with coordinates

equal to the first difference vector

This provides guidance of the real direction of the axis of the source of the working radiation from the first given point A ₁ exactly to the point

the expected location of the object. Indeed, the first guidance unit 4 performs the conversion (translation) direction of the fixed line A ₁ -A ₃ (see figure 2) in the direction of the line A ₄ -O ₃ directed to the point of the expected location of the object O ₃ with the coordinates of the vector

directions to this point obtained earlier in accordance with (5). The action algorithm of the first guidance unit 4 can be represented by the operator P ₁ :

Where

- the direction vector of the axis of the light beam at the input of the first guidance unit 4 relative to point A ₁ ;

- the control vector of rotation of the axis A ₁ -A ₃ carried out by rotary mirrors 19, 18 relative to the fixed axis A ₁ -A ₃ ;

is the direction vector of the axis of the light beam at the output of the first guidance unit 4, when

and

At zero values (8) of angular coordinates

the direction vector of the axis of the working radiation direction vector

at the output of guidance unit 4 it will have the following angular coordinates, in accordance with (11) due to the previously established direction of the output axis of guidance unit 4

.

необходимо обеспечить выполнение соотношения

, отсюда

,
что совпадает с (10) при

Для точного наведения оси рабочего излучения в точку ожидаемого нахождения объекта с координатами

осуществляют установление выходной оси первого блока наведения 4 (вектора вращения

оси А₁-А₃) в соответствии с величиной

Далее осуществляют наведение оси первого блока наведения 4 в первую уточненную точку

ожидаемого нахождения объекта

в соответствии с (10). Для выполнения этой операции на блоки вращения 20, 21 с выхода блока обработки информации 6 поступают управляющие сигналы, обеспечивающие разворот и направление выходной оси первого блока наведения 4 в соответствии с величиной

относительно неподвижной оси А₁-А₃. Этим обеспечивают наведение указанной выходной оси первого блока наведения 4 в первую уточненную точку ожидаемого нахождения объекта

При этом собственно ось рабочего излучения будет направлена из точки А₁ точно в точку

ожидаемого нахождения объекта с учетом того, что рабочее излучение от источника рабочего излучения 26 будет распространяться по направлению вектора

имеющего относительно точки А₁ и неподвижной оси А₁-А₃ угловой сдвиг, характеризуемый координатами (8), измеренными первым фотоприемным блоком 9. Таким образом, определение в единой системе координат, связанной с первой заданной точкой A₁, направления вектора оси источника рабочего излучения

и ранее выполненное определение координат

объекта и координат

точки ожидаемого нахождения объекта обеспечивает наведение оси источника рабочего излучения на движущийся объект в динамическом режиме.For getting

it is necessary to ensure the fulfillment of the ratio

from here

,
which coincides with (10) for

For precise guidance of the axis of the working radiation at the point of the expected location of the object with the coordinates

set the output axis of the first guidance unit 4 (rotation vector

axis A ₁ -A ₃ ) in accordance with the value

Next, the axis of the first guidance unit 4 is guided to the first specified point

expected location of the object

in accordance with (10). To perform this operation, control blocks are supplied to the rotation blocks 20, 21 from the output of the information processing unit 6, which ensure the rotation and direction of the output axis of the first guidance unit 4 in accordance with the value

relative to the fixed axis A ₁ -A ₃ . This ensures the guidance of the specified output axis of the first guidance unit 4 at the first specified point of the expected location of the object

In this case, the axis of the working radiation itself will be directed from point A ₁ exactly to the point

the expected location of the object, given that the working radiation from the source of working radiation 26 will propagate in the direction of the vector

having an angular shift relative to the point A ₁ and the fixed axis A ₁ -A ₃ , characterized by the coordinates (8) measured by the first photodetector unit 9. Thus, in a single coordinate system associated with the first given point A ₁ , the direction of the working source axis vector is determined radiation

and previously performed coordinate determination

object and coordinates

points of the expected location of the object provides guidance of the axis of the source of working radiation to a moving object in dynamic mode.

ожидаемого нахождения объекта, в координатах которой учтены как пространственные координаты точки

так и реальные координаты оси

источника рабочего излучения.The first guidance unit 4 is transferred to the tracking mode of the first specified point

the expected location of the object, in the coordinates of which are taken into account as the spatial coordinates of the point

and the real coordinates of the axis

source of working radiation.

(13). При этом в параметрах вектора управления

непрерывно учитывают координаты вектора

направления оси рабочего излучения в системе координат относительно точки А₁, измеряемые первым фотоприемным блоком 9. Выполнение режима слежения за первой уточненной точкой ожидаемого нахождения объекта осуществляют с помощью контура наведения, в который входят следующие элементы: первый блок наведения 4, первый фотоприемный блок 9, первый блок обработки информации 6, блоки вращения 20, 21.To perform this mode, from the information processing unit 6, control signals are continuously supplied to the rotation units 20, 21, which ensure the rotation of the turning mirrors 18, 19 in accordance with the angular coordinates (values) of the control vector

(thirteen). Moreover, in the parameters of the control vector

continuously take into account the coordinates of the vector

the direction of the axis of the working radiation in the coordinate system relative to the point A ₁ measured by the first photodetector unit 9. The tracking mode for the first specified point of the expected location of the object is carried out using the guidance loop, which includes the following elements: the first guidance unit 4, the first photodetector unit 9, the first information processing unit 6, rotation units 20, 21.

ошибки наведения излучения на объект в момент прихода излучения на объект. После этого осуществляют компенсацию измеренной ошибки наведения путем наведения выходной оси первого блока наведения во вторую уточненную точку ожидаемого нахождения объекта с пространственными координатами

, равными сумме координат

первой уточненной точки ожидаемого нахождения объекта и координат вектора

ошибки наведения излучения на объект:

Последовательно рассмотрим выполнение указанных операций, начиная от операции контроля точности наведения излучения на объект.Further, according to the proposed method, control the accuracy of pointing radiation to the object by determining the vector

errors of pointing radiation to the object at the time of radiation arrival at the object. After that, the measured guidance error is compensated by pointing the output axis of the first guidance unit to the second specified point of the expected location of the object with spatial coordinates

equal to the sum of coordinates

the first specified point of the expected location of the object and the coordinates of the vector

errors pointing radiation to the object:

We will successively consider the performance of these operations, starting from the operation of controlling the accuracy of directing radiation to an object.

. Сформированный импульс зондирующего излучения проходит до источника рабочего излучения 26 по направлению, обозначенному точками A₇-A₁₀-A₁-A₂-В₅-В₄. Далее импульс отражается от уголкового отражателя 66 (см. фиг.1) и в обратном ходе, после отражений от зеркала 22 третьего блока наведения 5, светоделительного зеркала 10 и прохождения по направлению - А₂-A₁-А₃-А₄-O₃ - направляется в сторону объекта. При этом генерации и формирования собственно импульса рабочего излучения блоками 26, 29 не осуществляют. Ширина сформированного светового пучка зондирующего излучения (угловая) является достаточно большой и перекрывает всю зону предполагаемого нахождения объекта вместе с возможными ошибками наведения. В соответствии с установленным ранее направлением выходной оси первого блока наведения 4 импульс зондирующего излучения направляют в точку ожидаемого нахождения объекта, при этом приход данного импульса на объект определяется моментом времени 13, вычисленном ранее. Импульс зондирующего излучения, отраженный от объекта, принимают и регистрируют с помощью первого фотоприемного блока 9. При этом регистрируют угловые координаты

реального положения объекта в момент прихода на него импульса зондирующего излучения (t₃) и момент времени t₄ приема отраженного излучения от объекта. Вектор разности координат

характеризует точность наведения излучения на объект. Момент времени t₄ в соответствии с (6) равен
t₄ = t_о1 + 2H/C + 2R(t₃)/C (15).To perform the operation of controlling the accuracy of radiation guidance, a probe radiation pulse is generated using a second master oscillator 54, which in this case imitates the operation of the entire laser generator 7. This probe radiation pulse is generated at time t _z = t _o1 in accordance with (6). Thus, the moment of generation (formation) of the probe radiation pulse t _o1 corresponds to the moment of generation of the auxiliary radiation pulse by the laser generator 7 in the operating mode with respect to the time t _{o of} determining the coordinates of the object. The time t _z = t _o1 follows the time t ₁ determine the coordinates of the axis of the source of the working radiation

. The generated pulse of the probe radiation passes to the source of the working radiation 26 in the direction indicated by points A ₇ -A ₁₀ -A ₁ -A ₂ -B ₅ -B ₄ . Next, the pulse is reflected from the corner reflector 66 (see figure 1) and in the reverse direction, after reflections from the mirror 22 of the third guidance unit 5, beam splitter mirror 10 and passing in the direction - A ₂ -A ₁ -A ₃ -A ₄ -O ₃ - goes towards the object. In this case, the generation and formation of the actual pulse of the working radiation by blocks 26, 29 are not carried out. The width of the generated light beam of the probe radiation (angular) is quite large and covers the entire zone of the alleged location of the object along with possible pointing errors. In accordance with the previously established direction of the output axis of the first guidance unit 4, the probe radiation pulse is sent to the point of the expected location of the object, while the arrival of this pulse to the object is determined by the time instant 13 calculated earlier. The probe radiation pulse reflected from the object is received and recorded using the first photodetector unit 9. In this case, the angular coordinates are recorded

the actual position of the object at the time of the arrival of the probe radiation pulse (t ₃ ) and the time t _{4 of} receiving the reflected radiation from the object. Coordinate Difference Vector

characterizes the accuracy of pointing radiation to the object. The time t ₄ in accordance with (6) is equal to
t ₄ = t _о1 + 2H / C + 2R (t ₃ ) / C (15).

Based on the known parameters t _o1 , t ₄ , H from (15) determine R (t ₃ ) - the distance to the object at the time t ₃ arrival of the radiation pulse to the object. This value of R (t ₃ ) is used to determine the accuracy of predicting the trajectory of the object and to further determine the parameters of the movement of the object.

реального положения объекта в момент прихода на объект излучения используют для определения вектора разности координат

Вектор разности координат и реальные координаты объекта определяют на основе следующего соотношения:

Здесь

- координаты зондирующего светового пучка, отраженного от объекта, измеренные непосредственно первым фотоприемным блоком 9;

- реальные координаты объекта в момент прихода излучения на объект;

- вектор управления (13), определяющий изменение направления светового пучка, осуществляемое первым блоком наведения 4;

- ранее определенные параметры координат ожидаемой точки (

) и оси источника рабочего излучения

(8).Measured coordinates

the real position of the object at the time of arrival of the radiation object is used to determine the vector of the coordinate difference

The coordinate difference vector and the real coordinates of the object are determined based on the following relationship:

Here

- coordinates of the probe light beam reflected from the object, measured directly by the first photodetector unit 9;

- the real coordinates of the object at the time of arrival of radiation at the object;

- the control vector (13), which determines the change in the direction of the light beam, carried out by the first guidance unit 4;

- previously defined coordinates of the expected point (

) and the axis of the working radiation source

(8).

как разность

.Based on (16) in the information processing unit 6, a difference vector is determined

as a difference

.

(17) принимают за координаты (параметры) вектора

ошибки наведения излучения на объект:

.The coordinates of the resulting difference vector

(17) are taken as the coordinates (parameters) of the vector

errors pointing radiation to the object:

.

возможно как в результате однократного измерения, так и в результате осуществления серии измерений реализаций вектора ошибки

с последующим усреднением его параметров по ансамблю и определения среднего вектора ошибки наведения

В последнем случае для определения вектора ошибки

осуществляют подсвет объекта серией импульсов i=1...M зондирующего излучения от генератора 54, с общим произвольным числом импульсов М. Для каждого i-го зондирующего импульса подсвета объекта по вышеприведенной технологии определяют вектор

разности в соответствии с (16), (17).In the proposed method, the determination of the error vector

possible both as a result of a single measurement, and as a result of a series of measurements of implementations of the error vector

followed by averaging its parameters over the ensemble and determining the average guidance error vector

In the latter case, to determine the error vector

the object is illuminated by a series of pulses i = 1 ... M of the probe radiation from the generator 54, with a total arbitrary number of pulses M. For each i-th probing pulse, the object is illuminated using the above technology to determine the vector

differences in accordance with (16), (17).

для полученной серии произведенных измерений вектора разности

в соответствии с соотношениями

.Determine the parameters of the average difference vector

for the obtained series of measurements of the difference vector

in accordance with the ratios

.

наведения излучения на объект

.The parameters of the obtained average difference vector are taken as the parameters of the error vector

pointing radiation to an object

.

 M is the total number of probe pulses of radiation.

равными сумме координат

В результате этой операции исключают измеренную величину ошибки наведения, характеризуемую вектором ошибки

и направляют выходную ось первого блока наведения 4 в точку пространства с координатами

Таким образом, выходная ось первого блока наведения 4 установлена в точку реального нахождения объекта

в момент прихода излучения на объект с учетом ранее полученных координат оси источника рабочего излучения

в системе координат первой заданной точки A₁.Then, the measured guidance error is compensated by pointing the output axis of the first guidance unit 4 to the second specified point of the expected location of the object with coordinates

equal to the sum of coordinates

As a result of this operation, the measured value of the pointing error characterized by the error vector is eliminated.

and direct the output axis of the first guidance unit 4 to a point in space with coordinates

Thus, the output axis of the first guidance unit 4 is set to the point of real location of the object

at the moment of radiation arrival at the object, taking into account previously obtained coordinates of the axis of the working radiation source

in the coordinate system of the first given point A ₁ .

осуществляют путем подачи соответствующих управляющих сигналов, пропорциональных величине вектора

(22) с выхода блока обработки информации 6 на блоки вращения 20, 21 первого блока наведения 4.Actually pointing the axis of the first guidance block 4 to the second specified point

carried out by supplying appropriate control signals proportional to the magnitude of the vector

(22) from the output of the information processing unit 6 to the rotation units 20, 21 of the first guidance unit 4.

по указанной на чертеже фиг.3 стрелке

Соответственно,

- последовательные положения центра отражательного зеркала 22; е - положение точки отражения светового луча от лазерного генератора 7, отклоненного на величину h и распространяющегося по направлению к источнику рабочего излучения. Отклоненный световой луч находится в пределах отверстия в центре зеркал 13 и 10. В обратном ходе световой луч от лазерного генератора 7, представляющий рабочее излучение от источника рабочего излучения 26, 29, будет отражен от зеркала 22 в точке

, смещенной относительно точки

на величину

здесь V_п - составляющая скорости ЛА вдоль оси A₁-А₂,

- промежуток времени двойного распространения излучения до источника рабочего излучения, определяемой расстоянием Н. Из фиг.3 величина h равна

.Further, according to the proposed method, carry out preparations for the formation of auxiliary radiation and working radiation. The direction of the axis of the auxiliary radiation source is shifted relative to the first predetermined point A ₁ in the plane perpendicular to this axis by a value proportional to the distance from the aircraft platform to the working radiation source and the speed of the aircraft platform relative to the working radiation source V _p . The specified axis offset of the auxiliary radiation source - laser generator 7 - is carried out using a deflector 8, controlled by signals from the information processing unit 6. This axis offset is necessary to compensate for the movement in space of point A ₂ , the center of the reflective mirror 22, of the third radiation guidance unit 5, arising due to the movement of the aircraft platform LA 1 relative to the working radiation source 26 located on the ground. Figure 3 schematically shows the path of the light beam from the auxiliary radiation source 7, s positioned relative to point A ₁ in the plane perpendicular to the axis by the value of h by deflector 8. Positions b ₁ and b ₂ indicate two consecutive positions of the reflecting mirror 22, due to the movement of the aircraft platform with a speed of V _p , parallel to the axis A ₁ -

according to the arrow indicated in the drawing of figure 3

Respectively,

- sequential positions of the center of the reflective mirror 22; e is the position of the point of reflection of the light beam from the laser generator 7, deviated by the value of h and propagating towards the source of working radiation. The deflected light beam is located within the hole in the center of the mirrors 13 and 10. In the reverse, the light beam from the laser generator 7, representing the working radiation from the working radiation source 26, 29, will be reflected from the mirror 22 at

offset from a point

by the amount

here V _p - component of the speed of the aircraft along the axis A ₁ -A ₂ ,

- the time interval of double propagation of radiation to the source of the working radiation, determined by the distance N. From figure 3, the value of h is equal to

.

к плоскости зеркала 22 и осью А₁-А₂. Параметры угла α определяют по показаниям датчиков угла, входящим в состав третьего блока наведения 5. Величину смещения луча h в плоскости падения светового пучка е₁e на отражательное зеркало 22, которая совпадает с плоскостью чертежа на фиг.3, определяют согласно (23) по величине составляющей скорости V_п платформы параллельной оси А₁-А₂, которая совпадает с продольной осью платформы ЛА 1 - (самолета). Если согласно данным целеуказания платформа ЛА 1 имеет составляющую скорости V₁ ^п, перпендикулярную показанной на фиг.3 плоскости падения светового луча на отражательное зеркало 22, то осуществляют смещение оси источника вспомогательного излучения посредством дефлектора 8 на величину h₂, перпендикулярную показанной на фиг.3 плоскости падения, т.е. перпендикулярно плоскости чертежа фиг.3, но также в плоскости, перпендикулярной оси A₁-А₂. Данная величина h₂ не зависит от угла α и определяется только составляющей скорости V₁ ⁿ, перпендикулярной оси А₁-А₂ и равна:

В результате смещения оси источника вспомогательного излучения - лазерного генератора 7 - в направлениях h и h₂ в соответствии с соотношениями (23), (24) обеспечивают такое направление оси рабочего излучения при его распространении от источника рабочего излучения 26 до платформы ЛА, при котором указанная ось рабочего излучения проходит через центр А₂ отражательного зеркала 22, что обеспечивает дальнейшее распространение рабочего излучения по направлению неподвижной оси А₁-А₃ на вход первого блока наведения 4. При движении платформы ЛА со скоростью V_п не более 300 м/сек и дальностях Н<10-20 км размер центрального отверстия в зеркалах 10, 13 составляет 1-2 см.Here, the values of V _p and H are known from the motion parameters of the aircraft platform, which come from the external target designation system 43. Angle α is the angle between the normal

to the plane of the mirror 22 and the axis A ₁ -A ₂ . The parameters of the angle α are determined by the readings of the angle sensors included in the third guidance unit 5. The value of the displacement of the beam h in the plane of incidence of the light beam e ₁ e on the reflective mirror 22, which coincides with the plane of the drawing in FIG. 3, is determined according to (23) from the magnitude of the velocity component V _{p of the} platform parallel to the axis A ₁ -A ₂ , which coincides with the longitudinal axis of the platform LA 1 - (aircraft). If according to the target designation the aircraft LA 1 has a velocity component V ₁ ^p perpendicular to the plane of incidence of the light beam shown in FIG. 3 on the reflective mirror 22, then the axis of the auxiliary radiation source is shifted by the deflector 8 by a value of h ₂ perpendicular to that shown in FIG. 3 plane of incidence, i.e. perpendicular to the plane of the drawing of figure 3, but also in a plane perpendicular to the axis A ₁ -A ₂ . This value of h ₂ does not depend on the angle α and is determined only by the velocity component V ₁ ⁿ , perpendicular to the axis A ₁ -A ₂ and is equal to:

As a result of the displacement of the axis of the auxiliary radiation source — the laser generator 7 — in the h and h ₂ directions, in accordance with relations (23) and (24), they provide such a direction of the axis of the working radiation as it propagates from the working radiation source 26 to the aircraft platform, at which working radiation passes through the center axis A ₂ reflecting mirror 22, which provides further distribution of the radiation in the direction of working a fixed axis A ₁ -A ₃ to the input of the guidance unit 4. When the aircraft platform motion with swift Stu V _n is not more than 300 m / sec and ranges H <10-20 km size of the central hole in the mirrors 10, 13 is 1-2 cm.

 As a deflector 8, a plane-parallel plate of thickness d located in a double cardan suspension controlled by stepper motors from the control unit 62 can be used.

,
где ε₂ - угол преломления луча в пластине.When a light beam falls on a plane-parallel plate at an angle ε _1, the beam displacement in the transverse direction h is

,
where ε ₂ is the angle of refraction of the beam in the plate.

When the plane-parallel plate rotates around an axis lying in its plane and perpendicular to the axis A ₁ -A ₂ , the angle of incidence ε ₁ changes and the beam displacement h changes.

It is also possible to use as a deflector 8 a device for discrete deflection of a light beam based on electro-optical crystals,
After establishing the position of the axis of the auxiliary radiation source compensating for the speed of the aircraft platform, the laser operation of the auxiliary radiation laser generator 7 is carried out, that is, the auxiliary radiation is actually formed, on the basis of which the working radiation is further generated by phase conjugation.

Until the start of the laser of the auxiliary radiation generator 7, the first, second and third guidance units 4, 5, 31 carry out and continue the indicated and discussed tracking mode, in which the output (sighting) axis of the first guidance unit 4 is directed to the second specified point of the alleged location of the object and the actions of the second and third guidance blocks 31, 5 provide dynamic spatial alignment of the directions of the axes of the working radiation source B ₂ -B ₁ -B ₃ and the main axis A ₃ -A that is stationary relative to LA 1 ₁ -A ₁₀ -A ₇ -A ₈ passing through the first predetermined point A ₁ defining the coordinate system associated with point A ₁ and coinciding with the original axis of the laser generator of auxiliary radiation 7. When performing tracking modes and determining the coordinates of the object and coordinates the directional vectors of the axes of the radiation sources, the first photodetector unit 9 operates in the reception mode of these signals separately in time (time sharing mode). This mode is controlled using the information processing unit 6, which includes a timer synchronized with accurate single time signals coming from the external target designation unit 43. In this case, the light beam generated by the first master oscillator 40 and propagating in the direction B ₁ -B ₃ corresponding to the axis B ₃ -B ₁ -B ₂ passes further in its propagation in the direction A ₂ -A ₁ -A ₁₀ and then taking into account reflections in mirrors 13, 15 and 10 - in the reverse direction - the beam passes in the direction A ₁₀ -A ₁₁ -A ₁₀ -A ₁ -A ₅ , A ₆ and enters the center of the platforms of multi-element photodetectors 46, 47. That is, the axis of the laser generator auxiliary radiation 7, the main axis A ₁ -A _2, the axis A of the first photodetector unit ₆ and A ₁ -A ₅ -A source ₁ and emitted working axis I B ₃ -B ₁ -B ₂ are mutually aligned, continuing to each other in space. The possible dynamic deviation of the axis of the source of working radiation, defined by the direction B ₄ -A ₂ from the main axis A ₁ -A ₂ (taking into account reflection in the reflective mirror 22), is compensated at the stage of the last operation for the formation and guidance of the working radiation.

в соответствии с ранее изложенными операциями, то есть осуществляют слежение за точкой ожидаемого нахождения объекта

определенной на основании решения уравнений (5) и соотношения (6), но с новыми более поздними параметрами момента формирования импульса вспомогательного излучения t_o1p>t_o1. При этом сохраняют и используют ранее полученные компенсационные добавления к устанавливаемому направлению выходной (визирной) оси первого блока наведения 4. При этом осуществляют наведение выходной оси первого блока наведения 4 во вторую уточненную точку

ожидаемого нахождения объекта в соответствии с (22), но с параметрами

рассчитанными и установленными для более позднего момента времени t_o1p.The formation of the working radiation is carried out further as follows. First, determine the time of the working start of the laser auxiliary radiation generator 7 t _o1p . The time t _{o1p is} selected and determined on the basis of the same relations (5), (6) that were stated and considered earlier when determining the first moment of the auxiliary radiation generating pulse t _o1 , in which the probe radiation pulse was generated from the second master oscillator 54 due to which the guidance accuracy was monitored. Therefore, the time t _{o1p is} chosen as follows, after the previously selected and determined time t _o1 , i.e., the condition t _o1p > t _o1 > t _o is satisfied. For this, time moments determine the distance H (t _o1p ), the direction value

in accordance with the previously described operations, that is, they monitor the point of the expected location of the object

determined based on the solution of equations (5) and relation (6), but with newer later parameters of the moment of formation of the auxiliary radiation pulse t _o1p > t _o1 . At the same time, the previously obtained compensation additions to the set direction of the output (target) axis of the first guidance unit 4 are saved and used. At the same time, the output axis of the first guidance unit 4 is guided to the second specified point

the expected location of the object in accordance with (22), but with parameters

calculated and established for a later point in time t _o1p .

After determining the time t _{o1p of} starting the laser auxiliary radiation generator 7, this information is transferred from the information processing unit 6 through communication units 25, 42 to the second information processing unit 30, with which the working radiation source 26 (laser amplifier) is launched from the pump unit 27 synchronously with the arrival at this source 26 of the auxiliary radiation pulse from the laser generator 7 at time t ₅ = t _o1p + H (t _o1p ) / C.

The control signal from the information processing unit 30 enters the pump unit 27 at time t ₅ .

с угловыми координатами

где f_c - фокусное расстояние Фурье-линзы 51.To start the laser auxiliary radiation generator 7 at time t _o1p from the information processing unit 6, which controls the start-up process, a control signal is supplied to the pumping unit 50 of the radiation source 49 to pump the radiation source 49. At the same time, the optical shutter control unit 59 from the information processing unit 6, a control signal is received to open one of the shutters 52. The position of the open shutter element 52 determines the direction in space relative to the original axis A ₇ -A _{1 0} direction vector of the radiation pattern (axis) of the generated pulse of the auxiliary radiation. When the central shutter is opened in the optical shutter block 52, the generated auxiliary radiation propagates strictly along the axis A ₇ -A ₁₀ -A ₁ . When you open one of the shutters 52 located at a distance Δx ₃ , Δy ₃ from the center point A ₈ (i.e., from the axis A ₇ -A ₁₀ ), the generated auxiliary radiation will propagate at an angle to the axis A ₇ -A ₁₀ defined vector

with angular coordinates

where f _c is the focal length of the Fourier lens 51.

вектора направления оси источника рабочего излучения 26 в системе координат, связанной с первой заданной точкой A₁ в соответствии с соотношением (8) с помощью первого фотоприемного блока 9 в соответствии с тем, как это было осуществлено ранее при определении координат вектор

.At the time instant immediately preceding the start of the laser generator 7, the coordinates are determined

the direction vector of the axis of the working radiation source 26 in the coordinate system associated with the first predetermined point A ₁ in accordance with relation (8) using the first photodetector unit 9 in accordance with the way it was previously performed when determining the coordinates of the vector

.

осуществляют выбор координат (Δx₃, Δy₃) положения открытого затвора в блоке затворов 52 в соответствии со следующим соотношением:

Отсюда

Этим выбором открываемого затвора 52 осуществляют направление вектора оси формируемого вспомогательного излучения точно по направлению вектора оси источника рабочего излучения и компенсируют возможный небольшой сдвиг (уход) направления оси источника рабочего излучения в момент времени, непосредственно предшествующий моменту времени формирования импульса вспомогательного излучения.Based on the obtained vector coordinate values

carry out the selection of coordinates (Δx ₃ , Δy ₃ ) the position of the open shutter in the block of shutters 52 in accordance with the following ratio:

From here

With this choice of the opening shutter 52, the axis vector of the generated auxiliary radiation is directed exactly in the direction of the axis vector of the working radiation source and compensate for a possible small shift (departure) of the axis direction of the working radiation source at a point in time immediately preceding the moment of formation of the auxiliary radiation pulse.

в системе координат, связанной с первой заданной точкой А₁, определяют величину координат второго вектора разности

между ранее определенным вектором направления оси источника рабочего излучения

(8) в момент времени t₁ и вектором направления оси источника рабочего излучения

координаты которого определены в момент времени t_o1p формирования вспомогательного излучения:

На основании координат полученного второго вектора разности

(30) определяют и формируют компенсирующий угловой сдвиг, пропорциональный величинам пространственных координат второго вектора разности

(30), для внесения в параметры вектора направления оси сформированного рабочего излучения.Further, according to the proposed method, at the time moment coinciding with the time moment t _{o1p of the} formation of the auxiliary radiation pulse (or immediately preceding this time moment), the coordinates of the direction vector of the axis of the working radiation source are determined

in the coordinate system associated with the first given point A ₁ determine the value of the coordinates of the second difference vector

between a previously defined direction vector of the axis of the working radiation source

(8) at time t ₁ and the direction vector of the axis of the working radiation source

the coordinates of which are determined at time t _{o1p the} formation of auxiliary radiation:

Based on the coordinates of the obtained second difference vector

(30) determine and form a compensating angular shift proportional to the spatial coordinates of the second difference vector

(30), for inclusion in the parameters of the direction vector of the axis of the generated working radiation.

направления оси источника рабочего излучения определяют в соответствии с соотношением (8) с помощью первого фотоприемного блока 9, аналогично тому, как это было изложено выше - по величине смещения светового пятна относительно центров многоэлементных фотоприемников 46, 47 при приеме излучения, сформированного первым задающим генератором 40, задающим направление оси В₂-В₁-В₃ источника рабочего излучения. Прием излучения от первого задающего генератора 40 и определение координат

смещения светового пятна относительно точек центров A₅, А₆ в первом фотоприемном блоке 9 осуществляют в момент времени t_o1p или в непосредственно предшествующий этому момент времени. Информация о параметрах вектора

поступает с выходов первого фотоприемного блока 9 в блок обработки информации 6, в котором по ранее измеренным параметрам вектора

определяют параметры второго вектора разности

(30). На основании полученных параметров второго вектора разности

в блоке обработки информации 6 определяют компенсирующий угловой сдвиг

(31), противоположный по величине параметрам вектора разности

, и формируют соответствующие управляющие сигналы, поступающие на блок управления 17 блока угловой компенсации 16. Последний под воздействием управляющих сигналов с блока управления изменяет свои параметры в соответствии с величиной компенсирующего углового сдвига

для внесения компенсационных добавлений (смещений) в параметры вектора направления оси рабочего излучения. При использовании второго варианта выполнения блока угловой компенсации поз. 63, 64 на фиг.2 управляющие сигналы, пропорциональные величине

(31), поступают с выхода блока обработки информации 6 на блок управления 64, выходы которого подсоединены к пьезоэлементам 63 (79) (см. фиг.5а). Описание работы данного варианта блока угловой компенсации приведено ниже.Vector coordinates

the directions of the axis of the working radiation source are determined in accordance with relation (8) using the first photodetector unit 9, similarly to what was described above, by the amount of light spot displacement relative to the centers of the multi-element photodetectors 46, 47 when receiving radiation generated by the first master oscillator 40 defining the direction of the axis B ₂ -B ₁ -B ₃ source of working radiation. Receiving radiation from the first master oscillator 40 and determining the coordinates

the displacement of the light spot relative to the points of the centers A ₅ , A ₆ in the first photodetector unit 9 is carried out at time t _o1p or immediately preceding this time. Vector Parameter Information

comes from the outputs of the first photodetector unit 9 to the information processing unit 6, in which, according to previously measured vector parameters

determine the parameters of the second difference vector

(thirty). Based on the obtained parameters of the second difference vector

in the information processing unit 6, a compensating angular shift is determined

(31), the opposite in magnitude to the parameters of the difference vector

, and form the corresponding control signals arriving at the control unit 17 of the angular compensation unit 16. The latter, under the influence of the control signals from the control unit, changes its parameters in accordance with the value of the compensating angular shift

for making compensatory additions (offsets) to the parameters of the direction vector of the axis of the working radiation. When using the second embodiment of the block angular compensation pos. 63, 64 in figure 2 control signals proportional to

(31), come from the output of the information processing unit 6 to the control unit 64, the outputs of which are connected to the piezoelectric elements 63 (79) (see figa). A description of the operation of this version of the angular compensation unit is given below.

где Н - расстояние от источника рабочего излучения до отражательного зеркала 22 - до платформы ЛА. При соответствующем выборе диаметра апертуры D_p источника рабочего излучения и диаметра отражательного зеркала 22 d₃ для всех возможных значений расстояния Н выполняется условие

при котором весь сформированный в результате ОВФ пучок рабочего излучения поступает в обратном ходе на отражательное зеркало 22 третьего блока наведения 5. При этом, как показано, ось диаграммы направленности пучка рабочего излучения приходится на центр отражательного зеркала 22 - точку А₂. Сформированное рабочее излучение проходит в своем дальнейшем распространении от отражательного зеркала 22 (точка А₂) до входа в первый блок наведения (точка А₃) через блок угловой компенсации 16, посредством которого осуществляют введение углового компенсирующего сдвига в направлении вектора направленности рабочего излучения в соответствии с ранее определенными параметрами компенсирующего углового сдвига

Далее сформированное рабочее излучение посредством первого блока наведения 4 направляют на объект в направлении ранее определенной второй уточненной точки

ожидаемого нахождения объекта в момент доставки рабочего излучения на объект с учетом внесенных поправок в направление выходной оси первого блока наведения 4. На этом цикл доставки рабочего излучения на объект завершен.The pulse of auxiliary radiation generated by the laser generator 7 at the time t _o1p propagates from the aircraft platform LA 1 in the direction A ₁₀ -A ₁ -A ₂ -B ₅ -B ₄ -B ₃ -B ₁ -B ₂ . When the auxiliary radiation pulse passes through the cuvette 26 of the working radiation source, the radiation is amplified with a large gain determined by the parameters of this radiation source. In the phase conjugation unit 29, radiation is generated with a reversed wavefront, which has a direction of the propagation vector that is opposite to the direction of the axis vector of the auxiliary radiation and corresponds to the direction of the axis B ₁ -B ₃ -B ₄ -A ₂ -A ₁ measured at the moment t _o1p of pulse formation auxiliary radiation. In the reverse course, radiation with a reversed wavefront propagates from point B ₂ in the direction of B ₁ -B ₃ -B ₄ -A ₂ -A ₁ -A ₃ -A ₄ and further in the direction of the expected location of the object. In reverse, through the cuvette 26 of the working radiation source, radiation is amplified with phase conjugation, as a result of which high-power working radiation is formed at the output of the cuvette of the working radiation source 26. This radiation due to the presence of a reversed wavefront provides automatic compensation for distortions associated with inhomogeneities of the turbulent atmosphere along the propagation path of the radiation to LA 1, as well as inhomogeneities of the active medium of the source of working radiation 26. As a result, the working radiation with a quasi-plane wavefront that is small the divergence and high density of radiation, and the center of the radiation pattern of this working radiation is exactly cent cial point A ₂ (point A ₂ ² in Figure 3), from which was actually emitted auxiliary light pulse at time t _o1p. Working radiation generated on the basis of phase conjugation, in the reverse direction from the working radiation source to the reflecting mirror 22 — the third guidance unit — after passing through the atmospheric propagation channel 80 and automatically compensating for atmospheric distortions, is physically equivalent to an undistorted light beam with an aperture corresponding to the output aperture of the working radiation source , in this case, equal to the aperture of the output rotary mirror in the second guidance unit 30, having an input visible diameter in the plane, perp an idicular output axis equal to D _p . The size of the light beam of the working radiation arriving at the reflective mirror 22 is due only to diffraction at the output aperture of the working radiation source 26 and is proportional to

where H is the distance from the source of the working radiation to the reflective mirror 22 to the aircraft platform. With the appropriate choice of the diameter of the aperture D _{p the} source of the working radiation and the diameter of the reflective mirror 22 d ₃ for all possible values of the distance H the condition

in which the entire working radiation beam formed as a result of phase conjugation enters backward to the reflective mirror 22 of the third guidance unit 5. Moreover, as shown, the axis of the radiation pattern of the working radiation beam falls on the center of the reflective mirror 22 — point A ₂ . The generated working radiation passes in its further propagation from the reflective mirror 22 (point A ₂ ) to the entrance to the first guidance unit (point A ₃ ) through the angular compensation unit 16, by means of which the angular compensating shift is introduced in the direction of the directivity vector of the working radiation in accordance with previously determined parameters of the compensating angular shift

Next, the generated working radiation through the first guidance unit 4 is directed to the object in the direction of the previously determined second specified point

the expected location of the object at the time of delivery of the working radiation to the object, taking into account the amendments made in the direction of the output axis of the first guidance unit 4. This completes the cycle of delivery of the working radiation to the object.

вектора направленности оси источника рабочего излучения относительно первой заданной точки пространства А₁ осуществляют наведение оси источника рабочего излучения в первую заданную точку пространства А₁ посредством третьего блока наведения 5. Наведение оси источника рабочего излучения в первую заданную точку А₁ осуществляют путем введения компенсирующего углового сдвига посредством третьего блока наведения 5 в направлении оси источника рабочего излучения при отражении рабочего излучения от отражательного зеркала 22. Данный вводимый компенсирующий угловой сдвиг пропорционален по величине и противоположен по знаку (направлению) измеренным координатам вектора

направленности оси источника рабочего излучения в системе координат относительно точки А₁. Для выполнения этой операции с выхода первого фотоприемного блока 9 сигналы Δx_p, Δy_p (8), определяющие параметры вектора

через первый блок обработки информации 6 поступают с обратным знаком в блок управления 24 третьего блока наведения 5. Положение отражательного зеркала 22 под воздействием этих управляющих сигналов устанавливают такое, что направление вектора оси источника рабочего излучения

после отражения от зеркала 22 становится параллельным главной оси А₃-A₁, то есть в системе координат, связанной с первой заданной точкой А₁, измеряемый вектор направления

становится нуль-вектором

В этом варианте реализации способа не производят определения координат первого вектора разности

и наведения выходной оси первого блока наведения в первую уточненную точку ожидаемого нахождения объекта с координатами

Последующие операции способа осуществляют так же, как изложено выше, причем при определении параметров векторов и координат полагают величину

т.е. координаты первой уточненной точки считают равными координатам

точки ожидаемого нахождения объекта. В момент формирования импульса зондирующего излучения определяют координаты

вектора направленности оси источника рабочего излучения 26, на основании которых определяют координаты второго вектора разности

на основании соотношения

.According to the proposed method, a second variant of compensation for the deviation of the axis of the working radiation source from the direction of the main axis A ₂ -A ₁ and, accordingly, from the direction of the input axis A ₁ -A _{3 of the} first guidance unit 4 is possible. This second option is reflected in paragraph 6 of the claims and lies in the fact that after determining at time t ₁ spatial coordinates

the directional vector of the axis of the working radiation source relative to the first predetermined point of the space A ₁ , the axis of the working radiation source is guided to the first predetermined point of the space A ₁ by the third guidance unit 5. The axis of the working radiation source is guided to the first predetermined point A ₁ by introducing a compensating angular shift the third guidance unit 5 in the direction of the axis of the source of the working radiation when the reflection of the working radiation from the reflective mirror 22. This is entered th compensating angular shift is proportional in magnitude and opposite sign (direction) the measured coordinates of the vector

the directivity of the axis of the source of the working radiation in the coordinate system relative to the point A ₁ . To perform this operation, from the output of the first photodetector unit 9, the signals Δx _p , Δy _p (8) that determine the parameters of the vector

through the first information processing unit 6, they enter with the opposite sign into the control unit 24 of the third guidance unit 5. The position of the reflecting mirror 22 under the influence of these control signals is set such that the direction of the axis vector of the working radiation source

after reflection from the mirror 22 becomes parallel to the main axis A ₃ -A ₁ , that is, in the coordinate system associated with the first given point A ₁ , the measured direction vector

becomes a null vector

In this embodiment of the method, the coordinates of the first difference vector are not determined

and guidance of the output axis of the first guidance unit to the first specified point of the expected location of the object with coordinates

The subsequent operations of the method are carried out in the same way as described above, moreover, when determining the parameters of the vectors and coordinates, the value

those. the coordinates of the first specified point are considered equal to the coordinates

points of the expected location of the object. At the moment of formation of the probe radiation pulse, the coordinates

directional vectors of the axis of the working radiation source 26, based on which the coordinates of the second difference vector are determined

based on the ratio

.

является вектором разности между нуль-вектором и вектором направления

оси источника рабочего излучения, который определен в момент формирования вспомогательного излучения. Нуль-вектор в (31) обусловлен тем, что ось источника рабочего излучения наведена посредством третьего блока наведения 5 в первую заданную точку А₁, а вектор

определяет мгновенное отклонение указанной оси от главной оси A₁-А₂ (и соответственно оси A₁-А₃).So the vector

is the difference vector between the null vector and the direction vector

axis of the source of working radiation, which is determined at the time of formation of the auxiliary radiation. The zero vector in (31) is due to the fact that the axis of the working radiation source is induced by the third guidance unit 5 to the first given point A ₁ , and the vector

determines the instantaneous deviation of the specified axis from the main axis A ₁ -A ₂ (and accordingly the axis A ₁ -A ₃ ).

To implement the indicated guidance of the axis of the source of working radiation at the first predetermined point A ₁ , a guidance (control) loop is formed, which includes the following elements: the first master oscillator 40, the third guidance unit 5, the first photodetector unit 9, the first information processing unit 6, the control unit 24.

 This second embodiment of the compensation of the deviation of the axis of the source of working radiation 26 is physically equivalent to the above first option, but may have advantages in solving specific technical problems.

 This completes the cycle of delivery of working radiation to the object.

 Next, we consider the features of the individual elements of the device that implements the method.

In the device that implements the method, the separation of the working radiation coming from the source of working radiation 26 (Fig. 2) and radiation reflected from the object and containing information about the coordinates of the object is carried out using a beam splitting mirror 10, which is equipped with a polarization coating with this function side of arrival of radiation on this mirror, i.e. from the points A ₂ and A ₃ . There is no coating on the back of the mirror 10 and the light flux coming from the side of point A ₁₀ is reflected from the back of the mirror to the input of the first photodetector 9. The working radiation has a polarization vector, for example, lying in the plane of the beam splitter mirror 10 and is reflected from the polarization coating by the input of the first guidance unit is in the direction A ₁ -A ₃ . This polarization of the working radiation is set by the polarization of the auxiliary radiation generated by the radiation source 49, which is part of the laser generator of the auxiliary radiation 7. When generating the working radiation based on phase conjugation in block 29, the initial polarization is preserved. Actually the auxiliary radiation from the laser generator 7 has a small beam cross section and passes through the holes in the center of the mirrors 13, 10, which have a diameter of less than 0.1 of the diameter of these mirrors. The remaining mirrors through which the working or reflected radiation from the object passes are completely reflective mirrors (pos. 13, 22, 19, 20, 15). The radiation for illuminating the object, generated by the target illuminating laser 11, has a polarization vector direction perpendicular to the polarization vector of the working radiation when viewed in the plane of the beam splitter mirror 10. In this case, the direction of the polarization vector radiation from the object passes through the beam splitter mirror 10 to the input of the first photodetector unit 9 direction A ₃ -A ₁ -A ₅ . The probe radiation generated by the first master oscillator 40 has a polarization vector direction perpendicular to the polarization vector of the working radiation, as a result of which, when propagating from point A _2, it passes through a beam splitting mirror 10 in the direction A ₂ -A ₁ -A ₁₀ and further, as discussed above in description.

The second master oscillator 54 generates circularly polarized laser radiation. Such radiation received on the platform LA 1 after reflection from the corner reflector 66 partially passes through the beam splitter mirror 10 in the direction A ₂ -A ₁ -A ₁₀ and enters the input of the first photodetector block 9, partially reflected from the beam splitter mirror 10 in the direction A ₂ -A ₁ -A ₃ . The latter provides the ability to illuminate the object with radiation from the second master oscillator 54 and perform operations to control the accuracy of guidance, as described above. For transmission of the radiation reflected from the object, illuminated by the radiation of the master oscillator 54 through the beam splitter mirror 10 to the input of the first photodetector unit 9, a plane-parallel plate 67 is used, which converts the linear polarization of the beam into circular polarization. This plate 67 has an equivalent thickness equal to λ / 4, where λ is the radiation wavelength. A similar plate is part of the second master oscillator 54 and ensures the formation of circularly polarized radiation by this generator.

It should be noted that to illuminate the object during the operations of monitoring the accuracy of guidance, a target 11 laser can be used. In this case, the target 11 laser is launched and the laser pulse is generated by this laser at time t ₂ (6), which corresponds to the arrival of the working pulse radiation with a reversed wavefront to the platform LA 1 (reflective mirror 22). In this case, the time t ₂ is determined based on the solution of equations (5) and relation (6). The remaining operations are performed unchanged, as described above.

All laser generators included in the device that implements the method (keys 26, 40, 49, 54, 11) operate at the same wavelength λ _slave in the near infrared range, for example, photodissociation type laser generators with different power levels. The most powerful is the source of working radiation 26 based on a powerful photodissocial two-pass amplifier. The wavefront reversal unit 29 (OVF) is made in the form of a cuvette with transparent windows filled with a mixture of gases (SF ₆ + Xe) under pressure. It is possible to use other substances in the gas phase, for example carbon disulfide. The formation of radiation with a reversed wavefront is carried out in accordance with the phase conjugation effect [8], realized as a result of the concentration of high power radiation in the focus of the first focusing lens 28 - point В ₂ . Radiation with a reversed wavefront propagates in the reverse direction strictly in the direction of B ₂ -B ₁ -B ₃ .

To separate the working radiation at a wavelength λ, the _{slave of a} photodissociation laser and laser radiation for information channels used to determine the coordinates of the object and the coordinates of the directional vectors of the axes, you can use a beam splitting mirror with a dichroic two-wave coating. In this case, the laser generators for illuminating the target and for hanging axes (keys 11, 54, 40) operate at a wavelength of λ ₂ = λ _slave + Δλ, slightly different from the working wavelength λ _slave , at which the radiation source 49 and the working source radiation λ _slave The photodetectors included in the device have a broadband sensitivity characteristic and record radiation at both wavelengths.

 To protect the photodetectors 46, 47 from the action of the working radiation or the action of the laser generator of the auxiliary radiation 7, gating by the time of operation of the photodetectors 46, 47 or overlapping the input of the first photodetector block 9 with a special optical shutter is provided. These tools are part of the photodetector unit 9 and are not shown in FIG. 2.

определяется координатами Δx₃, Δy₃ затвора в плоскости блока затворов 52, совмещенной с фокальной плоскостью Фурье-линзы 51, как было отмечено выше. В качестве блоков оптических затворов 52 может быть использована многоканальная матрица для внутрирезонаторной оперативной селекции направлений излучения, описание которой опубликовано в [5].Consider in more detail the operation of the laser auxiliary radiation generator 7, a block diagram of which is presented in figure 2. This laser generator contains a radiation source 49 with a pump unit 50 and a mode selector of laser radiation, consisting of elements pos. 53, 52, 51. The radiation source 49 contains a cuvette with an active substance and a first resonator element, for example a retro-mirror with a set of corner reflectors (not shown in FIG. 2 in block 7). The second element of the resonator forms a matrix of corner reflectors 53, and in front of each corner reflector 53 there is a corresponding controlled optical shutter in the block of optical shutters 52 controlled from the control unit 59. The radiation source 49, when pumped, operates in the mode of generating many angular modes. The mode selector formed by elements 53, 52, 51 selects and generates one angular mode, the directivity vector of which

determined by the coordinates Δx ₃ , Δy _{3 of the} shutter in the plane of the block of shutters 52, combined with the focal plane of the Fourier lens 51, as noted above. As blocks of optical shutters 52, a multi-channel matrix can be used for intracavity operative selection of radiation directions, a description of which was published in [5].

Structurally, a multichannel matrix consists of two triangular prisms connected in series, to the reflecting faces of which piezo-modulating plates are attached, forming a system of rows and columns in transmitted radiation. The action of the multichannel matrix is based on the violation of the mode of total internal reflection of radiation from the interface to which the modulating plates are pressed using piezoelectric elements controlled by voltage pulses from the control unit 59. The relative optical contrast between open and closed cells (gates) of 52 is more than 1000: 1. Monitoring the position of the axis of the auxiliary radiation source 7 is carried out using the radiation of the second master oscillator 54 and the elements of pos. 57, 58, 60, 61. As noted above, the radiation of the master oscillator 54 propagates in the direction of the diaphragm 55, points A ₇ -A ₁₀ -A ₁ -A ₂ and then to the second photodetector unit 36 and to the corner reflector 66. This radiation determines (materializes) the axis of the auxiliary radiation, which in the initial state coincides with the direction A ₇ -A ₁ -A ₂ passing through the first given point A ₁ . The coordinates Δx ₃ , Δy _{3 of the} open element of the shutter block 52 relative to the point A ₈ in the plane perpendicular to the axis A ₇ -A ₁ -A ₂ characterize, as noted, the parameters (angular) of the directivity vector of the auxiliary radiation generated by the radiation source 49. Points A ₇ and A ₈ are on the same axis A ₈ -A ₁ at a small distance from each other, and point A ₈ is in the focal plane of the Fourier lens 51. The fourth multi-element photodetector 58 controls the alignment of the center of the shutter block 52 - point A ₈ with point A ₇ , which is is indicated by the position of the axis of radiation generated by the second master oscillator 54. The fourth lens 57 forms in the plane of the photosensitive area of the photodetector 58 at the same time an image of the diaphragm 55 (points A ₇ ) and an image of the plane of the shutters 52 - (points A ₈ ). On the reverse side, the matrix of corner reflectors 53 is highlighted by the radiation of the illumination source 60. When monitoring the position of points A ₈ , only one central shutter (point A ₈ ) is opened in the block of shutters 52 and using its multi-element photodetector 58 its coordinates Δx _o , Δy _o are determined in the system the photosensitive area of the photodetector 58. At the next point in time, with the backlight 60 turned off and the master oscillator 54 turned on, the coordinates of the diaphragm 55 (point A ₇ ) are measured Δx _d , Δy _d . The difference of these coordinates determines the offset of the center of the block of shutters 52 relative to the axis A ₇ -A ₁ . If this difference is exceeded to a certain acceptable level, the shutter block is adjusted perpendicularly to the axis A ₇ -A ₁ or the difference is taken into account when choosing the coordinates of the open shutter 52 when setting the specified value of the coordinates of the directivity vector of the auxiliary radiation axis. The measurement and control of the coordinates of light spots is carried out using a multi-element photodetector 58 and an information processing unit 6, which receives a signal from the photodetector 58, similar to how coordinates are determined using the first photodetector unit 9.

 A device that implements the method contains three guidance blocks pos. 4, 5, 31.

Figure 4 schematically shows a block diagram of a third guidance unit 5, which contains a reflective mirror 22 located in a double cardan suspension 23. The latter consists of two frames 68 and 69, mounted one in the other, the rotation axis of which (φ _AZ and φ _M ) are mutually perpendicular. The double cardan suspension 23 also contains two electric motors 70, 71 (stepper), which provide rotation of the reflective mirror 22 (normal to the mirror 22 A ₃ - Z) around these two axes φ _AZ , φ _M. Electric motors 70, 71 are also equipped with sensors for the rotation angles of the axles of the cardan suspension, information from which is fed to the information processing unit 6.

The deflector 8 is arranged similarly to the design shown in Fig.4. In the case of a deflector 8 based on a double cardan suspension (Fig. 4), a plane-parallel plate of small thickness h ₁ , transparent for working radiation, is installed instead of a mirror 22. When the plate is rotated around the axis φ _M or φ _AZ by β _{1, the} light beam passing through the plate at the input normal propagation along the A ₇ -A ₁₀ axis at the exit after passing through the plane-parallel plate is shifted by h (25) in a plane perpendicular to the axis of rotation plates. Thus, by setting the angle of rotation of the plane-parallel plate in a double cardan suspension along the axes φ _AZ and φ _M, it is possible to obtain the necessary shift of the light beam with the given parameters Δh _x , Δh _y .
Figure 5 presents a variant of the structural implementation of the first and second guidance blocks 4, 31.

. Первый узел вращения 72 механически связан с основанием 74 блока наведения 4 через первый подшипник вращения 75. Второй 76 и третий 77 подшипники вращения размещены вместе с первым поворотным зеркалом 18 в первом узле вращения 72. Второй узел вращения 73 с укрепленным в нем вторым поворотным зеркалом 19 механически связан с основанием первого узла вращения через второй и третий подшипники вращения 76, 77. Оси вращения подшипников вращения совпадают с осями вращения

соответственно, а также совпадают с оптическими осями распространения световых пучков через блок наведения. Блок наведения содержит два блока вращения 20, 21. Каждый блок вращения 20, 21 содержит электродвигатель (шаговый), блок управления электродвигателем, включающий цифровую ячейку связи с блоком обработки информации 6 и датчик угла поворота оси

по соответствующему направлению оси.The guidance unit 4 contains two rotary mirrors 18, 19 located in the first 72 and second 73 rotation nodes at an angle of 45 ^o to the rotation axes φ _AZ , φ _M , which are mutually perpendicular. In Fig. 5, the rotation axes — azimuthal φ _AZ and elevational φ _M — are indicated by vectors respectively

. The first rotation unit 72 is mechanically connected with the base 74 of the guidance unit 4 through the first rotation bearing 75. The second 76 and third 77 rotation bearings are placed together with the first rotary mirror 18 in the first rotation unit 72. The second rotation unit 73 with the second rotary mirror 19 fixed therein mechanically connected to the base of the first rotation unit through the second and third rotation bearings 76, 77. The rotation axis of the rotation bearings coincide with the rotation axes

respectively, and also coincide with the optical axes of propagation of light beams through the guidance unit. The guidance unit contains two rotation units 20, 21. Each rotation unit 20, 21 contains an electric motor (stepper), an electric motor control unit including a digital communication cell with an information processing unit 6 and an axis rotation angle sensor

in the corresponding direction of the axis.

 The design of guidance blocks 4 and 31 is identical. The second guidance unit 31 is provided with a second photodetector unit 36 and an angle reflector 66, which are located in the second rotation unit 73, as shown in FIG. 5, wherein the optical axes of the second photodetector unit 36 and the angle reflector are parallel to the output axis of the guidance unit.

 On figa presents one of the embodiments of the block angular compensation. According to this embodiment, the second rotary mirror 19 in the first guidance unit 4 is mounted on the metal plate 78 using four piezoelectric elements 79, which are simultaneously the holders of the mirror 19. The metal plate 78 is installed in the second rotation unit 73 in place of the second rotary mirror 19.

The piezoelectric elements 79 are connected to the control unit 64, which is connected to the information processing unit 6. Under the influence of electrical control signals from the control unit 64, the piezoelectric elements 78 change their length in the direction of increase or decrease by a predetermined value. The position of the plane of the rotary mirror 19 changes in space by a small angular value Δφ _M , Δφ _AZ , which ensures compensation for the angular shift of the directivity vector of the radiation incident and reflected from this mirror 19. In figure 2, the piezoelectric elements 79 are conventionally shown in the form of two piezoelectric elements pos. 63 connected to the control unit 64.

 In FIG. 2, reference numeral 16 shows a first embodiment of an angular compensation unit with a control unit 17.

As the first option, an acousto-optical two-coordinate cell 16 is used, in which acoustic waves are excited in two mutually perpendicular directions, causing the beam to be deflected by an angle determined by the frequency (wavelength) of the excited acoustic wave in the Bragg diffraction mode. When changing the frequency of the excited waves in two mutually perpendicular directions, the deflection angles of the light beam passing through the cell 16 are also changed in two mutually perpendicular directions φ _AZ and φ _M in accordance with the frequencies of the two control signals generated by the control unit 17. The latter contains two high-frequency signal generators with a tunable frequency, controlled by signals from the information processing unit 6, in which control signals for the angular compensation unit 16 are generated, proportional to the amount of the necessary compensating angular shift in accordance with the above.

The third version of the angular compensation unit can be used as a precision deflectors spatial light modulator with electronic addressing [6], [7]. This spatial modulator contains an electro-optical crystal that is transparent to the working wavelength λ _slave , on which a charge relief is applied using an electron beam with a given spatial distribution law, which ensures, due to the electro-optical effect, a phase shift of the transmitted light and its deviation by a predetermined angle relative to the normal to the axis of the crystal, coinciding with the optical axis of propagation of the light beam. A feature of this device as a deflector is the high accuracy of determining the value of the deflection angle and high speed due to the inertia of the electron beam.

When implementing the proposed method, the second variant of the layout of the part of the device located on board the aircraft platform is possible. The block diagram of the second option is presented in Fig.6. This option is characterized in that the input axis of the first guidance unit A ₃ -A ₁ -A ₂ is located horizontally parallel to the axis of the aircraft, as a result of which one of the reflective mirrors is excluded (pos. 13), and the beam splitting mirror 10 is made without a central hole, which simplifies the design of this mirror. The rotation of the rotary mirror 18 around the specified axis A ₃ -A ₂ provides scanning along the elevation angle, and the output axis of the first guidance unit 4 carries out azimuthal scanning, which simplifies the organization of tracking objects at their zenith. The size of the newly introduced small reflective mirror 81 is 0.1 of the input aperture of the beam splitter mirror 10.

 This arrangement is simpler and has the advantage, mainly determined, as indicated, by improving the operation of the first guidance unit 4 for objects located in the zenith region.

 In the device that implements the method, standard computers equipped with digital processors, timers, digital information input / output blocks providing parallel operation with the device elements are used as the first and second information processing units 6, 30.

 A device that implements the method includes a vibration-proof base 82, on which the device elements are located, located on board the aircraft 1. This vibration-proof base, conventionally shown in figure 1 by 82, is a metal frame 82 connected to the body of the aircraft 1 through vibration-suppressing carriers elements 83, for example springs.

 All elements of the device located on board the aircraft 1 are mounted on a vibration-proof base 82. This allows you to reduce the level of vibration of the aircraft 1, affecting the optical elements of the device that implements the method.

In FIG. 7 is a diagram of a second embodiment of a wavefront reversal unit (phase conjugation — pos. 29 in FIG. 1). This embodiment of the phase conjugation unit contains first 84 and second 85 cuvettes with transparent windows sequentially located on the optical axis B ₂ -B ₆ , filled with a working substance, with the help of which the formation of a backward wave is carried out, for example, with a mixture of gases (SF ₆ = 1 atm + Xe = 20 atm). The first 86 and second 87 projection lenses design the central region of the first cuvette 84 — point B ₂ onto the central region of the second cuvette 85 — point B ₆ . Projection lenses 86, 87 are located at a double focal length of 2f _l from the centers of the respective cuvettes and are deployed relative to the axis B ₂ -B ₆ to eliminate the influence of glare. Using PC unit illustrated construction allows to increase the area of interaction, in which the conjugate wave is generated, reduce the threshold intensity inverted wave generation and selection to provide noise radiation coming at large angles to the axis B ₂ -B ₆ by the operation of the first cell 84 as a "soft aperture ", i.e. diaphragms with fuzzy edges.

Achievable technical result in the implementation of the proposed method is to increase the accuracy of pointing powerful radiation on a moving object. Improving accuracy is achieved through the use of information about the coordinates of the directivity vector of powerful working radiation at the time it arrives on the aircraft platform at a given point A ₁ , relative to which the coordinates of the object and its motion parameters are determined. According to the proposed method, the coordinates of a moving object and the parameters of the axis vector of the source of working radiation are determined in a single coordinate system associated with the aircraft platform 1, using the same first photodetector unit 9, which provides a mode for preliminary determination of coordinates in a wide (search) field of view and a mode for determining coordinates with a high degree of accuracy in a narrower central field of view using the second multi-element photodetector 47. Moreover, using the first guidance unit 4 track the moving object taking into account the parameters of the direction vector of the axis of the working radiation source in the coordinate system associated with point A ₁ , i.e. they guide the output axis of the first guidance unit 4 into the first specified point of the expected location of the object. Thus, the first guidance unit 4 implements a tracking mode for two dynamic objects: the actual targeting object (target) and the source of the working radiation, determined by the coordinates of its directional vector of the axis relative to the coordinate system associated with point A ₁ . The accuracy of pointing radiation to an object in the proposed method will be significantly better than in the prototype, in which tracking the axis of the source of working radiation is not performed and compensation for changes in the coordinates of its directivity vector is not carried out.

In the proposed method and device for its implementation, a second mode of separate tracking of the indicated two dynamic objects is possible, in which the tracking of the object is carried out using the first guidance unit 4, and the tracking of the source of working radiation is carried out using the third guidance unit 5. Moreover, using of the third guidance unit 5, the directivity vector of the axis of the working radiation source is guided to the first predetermined point A ₁ , i.e. dynamic alignment of the axis of the working radiation source in the coordinate system associated with point A ₁ with the direction of the stationary input axis A ₁ -A _{3 of the} first guidance unit 4. This provides dynamic compensation for deviations of the directivity vector of the axis of the working radiation source from the direction of the axis A ₁ -A ₃ , which, accordingly, eliminates the component of the dynamic guidance error, which is due to the instability (deviation) of the axis of the working radiation source in time.

 The second factor that improves the accuracy of radiation guidance to the object when using the proposed method is to control the accuracy of guidance by determining the magnitude of the guidance error and its compensation when the guidance of the working radiation pulse to the object. In this case, the object is illuminated with a special probe radiation pulse, and the working radiation source is not launched. The guidance error is determined by determining the actual coordinates of the object obtained at the time of the arrival of the probe radiation simulating the arrival of the working radiation, and comparing the obtained coordinates of the object with the predicted coordinates of the point of the expected location of the object into which the output axis of the first guidance block was guided.

The determination of the guidance error can be made once as a result of one cycle of illumination of the object by probing radiation and the determination of one implementation of the guidance error or by repeatedly illuminating the object with a series of probing pulses, determining the current guidance error for each individual elementary probe pulse of illumination of the object, determining the average value of the guidance error based on the resulting series of current pointing errors. Compensation of the dynamic deviation of the axis of the source of working radiation from the main axis - the direction A ₂ -A ₁ -A ₃ - is carried out on the basis of the obtained average value of the pointing error.

The third factor that increases the accuracy of radiation, according to the proposed method is the compensation of the instantaneous deviation of the axis of the source of working radiation at the time of formation of the pulse of auxiliary radiation. Accurate compensation is possible due to the fact that the directivity vector of the working radiation at the time of its arrival at point A ₂ on the reflective mirror 22 of the third guidance unit 5 is determined by the direction of the axis B ₁ -B ₃ -B ₄ -A ₂ at this time. Therefore, the determination at this time point of the direction of the specified axis in the coordinate system relative to point A ₁ using the radiation of the first master oscillator 40 makes it possible to determine with a high degree of accuracy the instantaneous deviation of the axis of the working radiation when it arrives at point A _{2 of the} reflection mirror 22 on the aircraft platform 1 from the direction of the axis A ₂ -A ₁ -A ₃ . This instantaneous deviation is compared with the value of the dynamic deviation from the source of the working radiation (previously determined), the compensation of which was previously carried out, and the difference of these values is determined, based on which the final angular compensation of the direction of the axis vector of the working radiation at the time of its propagation from point A ₂ to point A ₃ to the final operation of directing radiation to the object. An additional factor that increases the efficiency of the device that implements the method as a radiation guidance system is the implementation of compensating shifts of the axis of the auxiliary radiation until the pulse of the auxiliary radiation is formed, on the basis of which the working radiation is formed on the basis of phase conjugation.

 An increase in the accuracy of radiation guidance to an object causes an increase in the radiation energy density at the object.

.Indeed, in order to solve the problem of delivering radiation to an object, it is necessary to ensure the fulfillment of the following relation connecting the divergence of radiation Θ _p , the angular dimensions of the object Θ _about and the value χ, which characterizes the mismatch of the angular coordinates of the object and the angular coordinates of the direction vector of the radiation axis (laser beam) at the time of radiation on an object in the plane of the object:

.

The value of χ summarizes the overall performance of the radiation guidance system on the object and is the total error of radiation guidance. It can be shown that this quantity is equal to
χ = δΘ _cn + δr _o (33),
where δΘ _sn is the root-mean-square error of establishing the axis of the radiation beam, referred to the plane of the object at the time of radiation arrival;
δr _o - the standard error of determining the coordinates of the object for the moment of arrival of radiation on the object.

 As a result of using the proposed method, a decrease in the total pointing error χ (32) is provided.

где I_o - полная энергия, излучаемая источником (лазерным генератором),
W_o - радиус гауссова пучка по уровню 1/е амплитуды в зоне перетяжки (у источника),
λ - длина волны.When using a Gaussian beam as the model of laser radiation delivered to the object, the axial energy density A ² (z) at a distance z from the radiation source is

where I _o is the total energy emitted by the source (laser generator),
W _o is the radius of the Gaussian beam at the level of 1 / e amplitude in the waist zone (at the source),
λ is the wavelength.

,
где

- радиус рабочей зоны пучка в плоскости объекта на расстоянии z от источника; r - расстояние от оси пучка излучения.The energy density of a Gaussian beam in its working area at a distance z from the source is

,
Where

- the radius of the working zone of the beam in the plane of the object at a distance z from the source; r is the distance from the axis of the radiation beam.

,
где δ = χ•z - суммарная ошибка наведения излучения в линейной мере.Then, for a small size of the object объекта _ob ≪ θ $\genfrac{}{}{0ex}{}{\text{b}}{\text{P}}$ according to (32):
χ≤θ _p / 2 (36).
The guaranteed density of energy delivered to the object will be equal to

,
where δ = χ • z is the total error of radiation guidance in a linear measure.

 The value E (δ, z) characterizes the minimum guaranteed level of energy density at the object, corresponding to the position of the object at the boundary of the beam working zone, determined by the radius W (z).

(38).The relative value of the energy density η at the object depending on the guidance error δ is

(38).

,
где

- угловая расходимость излучения, выраженная через параметры гауссова пучка, принятого в качестве модели излучения, доставляемого на объект.Accordingly, for η in the angular parameters we obtain:

,
Where

- the angular divergence of the radiation, expressed in terms of the parameters of a Gaussian beam, adopted as a model of radiation delivered to the object.

Thus, with a decrease in the pointing error χ, the relative value of the energy density at the object increases exponentially in accordance with the presented relation (39), which proves the increase in the efficiency of radiation delivery to the object and the increase in energy density at the object as a result of the implementation of the proposed method. It should be noted that an increase in the accuracy of radiation guidance to the object, achieved by the implementation of the proposed method, makes it possible to realize and use laser beams with a lower divergence Θ _p , which directly follows from condition (32), which determines the restrictions on the divergence of the laser beam used to deliver the radiation at a known achieved level, the magnitude of the radiation guidance error. The use of phase conjugation in the formation of working radiation makes it possible to realize a very small level of divergence, limited only by the diffraction limit. Therefore, when using the proposed method for delivering radiation to an object, the only factor limiting the energy density at the object and the efficiency of the radiation delivery system will be the accuracy of radiation guidance. Consider the main physical limitations on the magnitude of the pointing error in a device that implements the proposed method.

.In a device that implements the method, tracking a moving object and directing radiation to the object is carried out by means of guidance blocks that contain rotary reflective mirrors mounted in a rotation block, the position in space of which is changed by electromechanical drives - electric motors with analog or digital control. From the point of view of mechanics, a reflective mirror with a rotation unit is a rigid rotator, the basic equation of dynamics of which has the following form:

.

Here I _o is the moment of inertia of the entire mechanical system of the rotary mirror of the guidance unit relative to the axis of rotation, ω is the angular velocity of rotation, h _o is the damping mechanical moment due to the forces of friction and resistance, M is the disturbing moment due to the rotational moment created by the electric drive under the influence control signal And _control , which in the general case is M = R _m • U _y (t) • R _e ^-1 , where i _i = U _y (t) / R _c , i _i is the current in the winding of the drive armature, R _m - proportionality coefficient, R _with - armature winding resistance, U _y is the control voltage generated by the control unit and proportional to the angle of mismatch between the output axis of the guidance unit and the direction to the object: U _y = R ₁ • [φ _o -φ]; φ _o and φ are the absolute angular coordinates of the object and the output axis of the guidance unit, R ₁ is the proportionality coefficient.

получим следующее уравнение динамики блока наведения излучения на основе отражательных (поворотных) зеркал:

- коэффициент передачи.The value of φ _o -φ is measured by the first photodetector unit together with the information processing unit. Assuming that the coordinates of the output axis of the guidance unit φ (t) are rigidly connected with the current angle of rotation of the electromechanical system of the rotation unit of the reflective mirror and there are no backlashes, taking into account (40), as well as the relation

we obtain the following equation of dynamics of the radiation guidance block based on reflective (rotary) mirrors:

- gear ratio.

равно

.This dynamic equation corresponds to the guidance block model, in which the inertial link of the guidance system is the mechanical rotation block with a reflective mirror, and the electrical transmission links are inertialess. Such a model makes it possible to determine the influence on the dynamics of the guidance unit of the basic parameters - the mass and inertia of the rotation unit with a large reflective mirror, the inertia moment I _{o of} which in the general case is equal to I _o = K ₂ mR ₃ ² , where m is the total mass of the rotation unit with a reflective mirror , R ₃ is the radius of the reflective mirror; K ₂ - coefficient determined by the design and shape of the mirror and equal, for example, K ₂ = 1/2 for a round mirror. Based on the analysis of the standard equation of dynamics of the guidance system, it can be shown that this guidance system based on large-sized mirrors with electromechanical drives is characterized by the following parameters:
transient establishment time τ _y in system (41) of the form

equally

.

Transient aperiodicity condition
h _o ≥ 2 (I _o R _o ) ^1/2 (43).

With a large transfer coefficient R _o , simultaneously satisfying condition (43), the time of establishment of the transition process tends to the minimum value
τ _m ≅ 3T = 6I _o / h _o (44).

The value of τ _m is the minimum value of the duration of the transient process, which can be implemented in the guidance unit with electro-mechanical drives and the specified parameters of the moment of inertia I _o and the damping moment h _o . The value of τ _min determines the speed of the guidance unit and characterizes the magnitude of the guidance error when tracking fast-moving dynamic objects. In the general case, the guidance error δΘ when pointing the output axis of the guidance unit to a dynamic object is proportional to
δΘ = τ _m • δU _o (45),
where δU _o is the standard error of determining the speed of a dynamic object in the monitoring system and predicting the trajectory and parameters of the object’s movement.

.Relations (45), (32) make it possible to directly relate the magnitude of the guidance error to the parameters of the guidance unit and the divergence of the used and generated working radiation. We assume that the divergence Θ _{n of the} radiation is limited only by the diffraction limit and is equal to

.

.For the magnitude of the guidance error, we obtain the following estimate:

.

устанавливающего взаимосвязь между минимальной расходимостью используемого излучения и допустимой величиной ошибки наведения. Отсюда получаем следующую оптимальную величину используемой расходимости излучения, соответствующей равенству в (32):

.Relation (47) shows that a decrease in the divergence of radiation in the general case leads to an increase in the pointing error due to an increase in the dimensions of the mirrors R ₃ and the moment of inertia of the rotation system I _o . The relative divergence of the used working radiation can be determined on the basis of (47) and relation (32)

establishing the relationship between the minimum divergence of the radiation used and the allowable value of the pointing error. From this we obtain the following optimal value of the radiation divergence used, which corresponds to the equality in (32):

.

Value (48) characterizes the optimal divergence of the used working radiation, which is determined only by the design parameters of the guidance block used — the mass of the rotation block with a reflective mirror m, the design coefficient K _2, and the value of the damping mechanical moment h _o . For the value of δU _o should take some maximum estimate of the magnitude of the error in determining the speed of the object, due to the capabilities of measuring and predicting its motion parameters.

In the proposed method and device for its implementation, it is possible to realize this minimum radiation divergence Θ _p due to the fact that a number of factors affecting the level of the used and achieved minimum radiation divergence are excluded (or compensated). Such factors, as shown above, include compensation of atmospheric turbulence by phase conjugation and compensation of a number of factors affecting the pointing error by more accurately pointing the axis of the working radiation source to the receiving aircraft platform and eliminating pointing errors in the system of the first guidance block. Reducing the divergence of the radiation used to the optimum possible value Θ _p (48) in the proposed device allows, accordingly, to realize a higher radiation density at the object.

 It should be noted that when the aircraft platform is carried out into outer space (in zero gravity), the mass of the rotation unit m with a reflecting mirror can be significantly reduced and the efficiency of the radiation guidance system can be increased due to a corresponding decrease in the radiation divergence in (48).

The application of the proposed method and device for its implementation in systems for the delivery of radiation to moving objects allows to obtain the following results:
to provide increased accuracy of pointing high-power radiation to a moving object due to elimination of errors during the guidance process due to deviation of the axis of the working radiation source from a given direction and other factors;
to provide an increase in the radiation energy density at the facility by compensating for atmospheric distortions during phase conjugation and simultaneously increasing the accuracy of radiation guidance.

 Conducted at the enterprise research experimental model that implements the proposed method, confirmed the receipt of new technical results.

Sources of information
1. Arbatov A.G. et al. Space weapons: a security dilemma. Ed. E.P. Velikhova. - M., Mir, 1986 p. 37 fig. 1.4.

 2. Vorontsov M.A., Schmalhausen V.I. The principles of adaptive optics. - M., Nauka, 1985, p. 92, Fig. 8.13.

 3. RF patent 2033629, publ. 04/20/95. Bull. eleven.

 4. RF patent 2124740, publ. 01/10/99. Bull. 1 / Prototype.

5. S. K. Mankevich et al. Multichannel matrix for operational intracavity selection of radiation directions. Abstracts 15 ^th All-Union. NTK: High-speed photography and metrology of fast processes. M., VNIIOFI. 1991, p. 119.

 6. Auth. testimonial. USSR 669976, a.z. 2464830 dated 03/21/1977 Mankevich S.K. and other electron beam light-modulating tube.

 7. Mankevich S.K., Nagaev A.I., Parygin V.N. et al. Light rejection using a spatial modulator with electronic addressing. - Radio Engineering and Electronics, 1982, volume 27, 3, p. 529.

 8. Opening 215 of 07/12/1979. Priority 6/01/1972. Wavefront reversal. Zeldovich B.Ya., Nosach O.Yu., Ragulsky V.V. and etc.

Claims (15)

1. The method of delivery of radiation to a moving object, which consists in determining at time t ₀ angular coordinates

range R (t ₀ ) and speed

object relative to the first given point in space A ₁ in the coordinate system associated with the platform of the aircraft (LA), moving relative to the source of working radiation located on the earth's surface, determining the distance between the platform of the aircraft and the source of working radiation located on the earth's surface, the formation of auxiliary radiation by means of auxiliary radiation located on the platform of the aircraft, the formation of working radiation through treatment Olnova front (PC) of the auxiliary radiation, the sighting axis working radiation of a first predetermined point in space A ₁ to a point of the expected location of the object with the coordinates of the vector

by means of the first guidance unit located on the aircraft platform, characterized in that prior to the formation of auxiliary radiation by the auxiliary radiation source located on the aircraft platform, the axis of the auxiliary radiation source located on the aircraft platform is guided to the axis of the working radiation source located on the earth's surface, the spatial coordinates of the directivity vector are determined

the axis of the source of working radiation relative to the first given point in space A ₁ at time t ₁ , determine the coordinates of the first difference vector

between the coordinates of the vector

points of the expected location of the object and the coordinates of the directivity vector

the axis of the source of working radiation relative to the first given point in space A ₁

the output axis of the first guidance unit located on the aircraft platform is guided to the first specified point of the expected location of the object with coordinates

equal to the first difference vector

control the accuracy of pointing radiation to the object by determining the vector

errors of pointing the radiation at the object at the time of arrival of radiation at the object, they compensate for the measured pointing errors by pointing the output axis of the first guidance unit located on the aircraft platform to the second specified point of the expected location of the object with spatial coordinates

equal to the sum of coordinates

the first specified point of the expected location of the object and the coordinates of the vector

errors pointing the radiation at the object

the axis of the auxiliary radiation source located on the aircraft platform is shifted parallel to itself in a plane perpendicular to this axis by an amount proportional to the distance from the aircraft platform to the working radiation source located on the earth’s surface and the speed of the aircraft platform relative to the working radiation source located on the earth's surface, at the time of formation of the pulses of the auxiliary radiation determine the coordinates of the direction vector of the axis and working radiation source

in the coordinate system associated with the first given point And ₁ determine the coordinates of the second difference vector

between a previously defined directional vector of the axis of the working radiation source

at time t ₁ and the direction vector of the axis of the working radiation source

whose coordinates are determined at the time of formation of the auxiliary radiation pulse

based on the obtained spatial coordinates of the second difference vector

form a compensating angular shift proportional to the spatial coordinates of the second difference vector

carry out the introduction of a compensating angular shift in the direction of propagation of the working radiation at the time of its arrival on the aircraft platform, carry out the guidance of the working radiation from the first given point of space A ₁ to the second specified point of the expected location of the object with spatial coordinates

by means of the first guidance unit located on the platform of the aircraft, while the summation of the vectors and their coordinates is carried out according to the rules of summing vector quantities, each vector is characterized by the angular coordinates of its axis relative to the main axis of the coordinate system used, centered at the first given point in space A ₁ . 2. The method according to claim 1, characterized in that for determining spatial coordinates

the directivity vectors of the axis of the working radiation source form probing laser radiation by means of a first master oscillator located on the earth’s surface, the directivity vector of the axis of which coincides with the direction of the axis of the working radiation source, direct the probing laser radiation from the working radiation source located on the earth’s surface to the first specified point A _{1 of the} space and determine the spatial coordinates of the directivity vector of the formed probing about laser radiation in the coordinate system relative to point A ₁ , the obtained coordinate values are taken as spatial coordinates

directional vectors of the axis of the working radiation source. 3. The method according to claim 1, characterized in that in order to control the accuracy of pointing the radiation at the object, probing radiation is generated by a second master oscillator located on the aircraft platform at time t _z following the time t _{1 of} determining the axis coordinates a source of working radiation located on the earth’s surface directs probing radiation from point A ₁ to a source of working radiation located on the earth’s surface, and after reflection it is probing of the radiation from the source of the working radiation, guidance of the probe radiation to the object from the first predetermined point A ₁ is carried out by means of the first guidance unit located on the aircraft platform, the real coordinates of the object are determined

at the time of arrival of the probe radiation to the object, the coordinates of the difference vector are determined

between the point of the real position of the object with coordinates

at the time of arrival of the probe radiation to the object and the point of the expected location of the object with coordinates

the coordinates of the resulting difference vector are taken as the coordinates of the vector

errors pointing the radiation at the object

moreover, the axis of the generated probing radiation coincides with the direction of the axis of the source of auxiliary radiation. 4. The method according to claim 1 or 3, characterized in that for determining the error vector

pointing the radiation at the object provides multiple illumination of the object by a series of pulses of probing radiation by means of a second master oscillator located on the platform of the aircraft, for each of the probing pulses of illumination of the object, a vector is determined

the difference between the measured real coordinates of the object

at the moment of the arrival of a given probe pulse to the object and the coordinates of the point

expected location of the object

determine the average difference vector

for the obtained series of measurements of the difference vector

, parameters of the obtained averaged difference vector

mistaken for the parameters of the error vector

pointing radiation to an object

where i is the pulse number of the probe radiation from a series of pulses with a total number of pulses equal to M, i = 1,2,3 ... M. 5. The method according to claim 1, characterized in that before the formation of an auxiliary radiation pulse at a time immediately preceding this radiation formation, the spatial coordinates of the directivity vector of the axis of the working radiation source located on the earth's surface are measured in the coordinate system relative to the first specified point And ₁ , at the time of formation of the auxiliary radiation pulse, the direction of the axis of the auxiliary radiation source located on the aircraft platform about the apparatus, set opposite to the measured direction of the axis of the source of the working radiation in the coordinate system relative to the first given point A ₁ space. 6. The method according to claim 1, characterized in that after determining at time t _{1 the} spatial coordinates of the directivity vector

the axis of the working radiation source relative to the first predetermined point of space A ₁ , the axis of the working radiation source located on the earth’s surface is guided to the first predetermined point of space A ₁ by introducing a compensating angular shift in the direction of the axis of the working radiation source, which is proportional in magnitude and opposite in sign to the measured coordinates of the vector direction of the working axis of the radiation source in a coordinate system relative to the first predetermined point a ₁ via a third plaque ka guidance, located on the aircraft platform.  7. The device for implementing the method according to claim 1, comprising a first guidance unit, a target illumination laser, a first reflective mirror, a first information processing unit, a first communication unit located in the ground part of the device on one optical device, located on a moving platform of an aircraft (LA) axes optically coupled to the second guidance unit, a working radiation source with a pumping unit, a first focusing lens, a wavefront reversal unit (wavefront), a reflective mirror with a hole in the center, a first master oscillator with a shape with a lens, a second information processing unit, a second communication unit, wherein the optical input of the second guidance unit through the reflective mirror with the hole in the center is connected to the optical output of the working radiation source, the output of the first master oscillator is optically connected through the forming lens and the hole in the center of the reflective mirror with optical input of the second guidance unit, the second information processing unit is connected to the communication unit and to the pumping unit of the working radiation source, the optical output of the backlight laser is intact connected to the optical input of the first guidance unit through the first reflective mirror, the first information processing unit connected to the first communication unit with the first guidance unit, characterized in that a third guidance unit, a first photodetector unit, a second photodetector unit located in the ground parts of the device, laser auxiliary radiation generator, deflector with control unit, beam splitter with a hole in the center, second reflective mirror with a hole in the prices three, a second focusing lens, a third reflection mirror, an angular compensation unit with a control unit, a plane parallel plate, an angle reflector, while the laser of the auxiliary radiation, a deflector, a second reflection mirror with a hole in the center, a beam splitter with a hole in the center and a third guidance unit located on one optical axis, the optical input of the first guidance unit is optically connected to the third guidance unit by means of sequentially located on the second optical and an angle compensation unit, a plane-parallel plate and a beam splitter mirror with a hole in the center, the optical output of the laser of the auxiliary radiation generator is optically connected to the third guidance block by a deflector, a hole in the center of the second reflective mirror and a hole in the center of the beam splitter, the optical input of the first photodetector is optically connected with an optical input of the first guidance unit by means of a beam splitting mirror with a hole in the center, plane-parallel tine and an angle compensation unit, and with a third guidance unit through sequentially mounted and optically coupled beam splitting mirrors with an aperture in the center, a second reflective mirror with an aperture in the center, a second focusing lens and a third reflective mirror, a second photodetector unit and an angle reflector are placed on the optical output a second guidance unit, wherein the optical output of the second guidance unit is optically coupled to the third guidance unit through an atmospheric radiation propagation channel I, the first information processing unit is connected to the output of the first photodetector unit, the auxiliary radiation laser generator and to the deflector control units, the angle compensation unit and the third guidance unit, the output of the second photodetector unit is connected to the second information processing unit.  8. The device according to claim 7, characterized in that the first photodetector unit comprises two multi-element photodetectors, two lenses and a beam splitter mirror, the first multi-element photodetector being optically connected to the optical input of the given photodetector unit via the first lens, and the second multi-element photodetector is optically connected with an optical input of the photodetector unit by means of a first lens, a second beam splitter mirror and a second lens.  9. The device according to claim 7, characterized in that the laser auxiliary radiation generator comprises optically coupled radiation source sequentially mounted on the optical axis with a pump unit, a Fourier lens, a third beam splitter mirror, an optical shutter unit with a control unit, an angle reflector matrix , a source of illumination with a second forming lens, optically coupled to a second master oscillator, a diaphragm, a fourth lens and a fourth multi-element optically coupled sequentially on a different optical axis the first photodetector, while the fourth multi-element photodetector is optically connected through the fourth lens and the third beam splitter to the optical shutter block, and through the diaphragm to the output of the second driver, the output of the second driver is connected to the optical input of the radiation source through the diaphragm, the third beam splitter and Fourier lenses, the fourth multi-element photodetector, backlight, control unit of the optical shutter block, the second master oscillator and block n the radiation of the radiation source is connected to the first information processing unit. 10. The device according to claim 7, characterized in that the first and second guidance units are identical and comprise two rotary mirrors, two rotation units, three rotation bearings and two rotation units, wherein the first and second rotary mirrors are located in the first and the second rotation nodes at an angle of 45 ^o to mutually perpendicular axes of rotation, the first rotation node is mechanically connected to the base of the guidance unit through the first rotation bearing, the second and third rotation bearings are installed together with the first rotary mirror in the first ohm rotation node, the second rotation node is mechanically connected to the first rotation node by means of the second and third rotation bearings, the rotation axis of the rotation nodes coincide with the optical axes of radiation propagation through the guidance unit, each rotation unit contains a stepping motor, a rotation angle sensor, and a communication cell connected to information processing unit.  11. The device according to claim 7, characterized in that in it in the second guidance unit the second photodetector unit and the corner reflector are placed on the fourth rotary mirror, and the directions of the optical axes of the second photodetector unit, the corner reflector and the output axis of the guidance unit are parallel.  12. The device according to claim 7, characterized in that the third guidance unit is made in the form of a reflective mirror placed in a double gimbal.  13. The device according to claim 7, characterized in that in it the elements placed on board the aircraft platform are mounted on a vibration-proof base mechanically connected to the aircraft platform.  14. The device according to claim 7, characterized in that in it on the platform of the aircraft (LA) the first and third guidance units are mounted on the same optical axis and are optically coupled through a beam splitter mirror made without a hole, the optical input of the first photodetector unit is optically connected to the third guidance unit through a sequentially installed beam splitting mirror, a focusing lens and a reflective mirror, the output of the laser auxiliary radiation generator is optically connected to the third guidance unit the deflector and the newly introduced small-sized reflective mirror mounted on the optical axis between the beam splitting mirror and the third guidance unit.  15. The device according to claim 7, characterized in that the wavefront reversal unit comprises serially mounted on the optical axis optically connected first cuvette with transparent windows, a first and second projection lens and a second cuvette with transparent windows, wherein the first and second cuvettes filled with a substance in which the formation of a reversed wave is carried out.

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