RU2213927C1 - Method for fire of fighting vehicle at target and system for its realization - Google Patents

Abstract

FIELD: military equipment, in particular, firings of fighting vehicle in mountains from a low-ballistic gun at considerable target elevations or depressions. SUBSTANCE: for low-ballistic shells restriction in maximum ballistic range D_max = D(α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ ) is taken into account by comparison of angle of elevation α_ε for the present firing range with angle of elevation ε for the given angle of sight α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ , which is determined from expression α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ = α^max|_ε=0-0,5ε, where α^max|_ε=0 - the maximum angle of elevation for the shell of the given type at angle of sight ε = 0. The essence of the system for realization of the method consists in the fact that the fire clearance device additionally uses a monitoring unit of the angle of elevation. The mentioned unit consists of series-connected multiplier unit with an inverting input, adder and a comparison element, whose input is connected to the third input of the gun mount, the input of the multiplier unit is connected to the output of observation-sighting system, the second input of the adder is connected to the output of the weapon characteristics unit, and the second input of the comparison element is connected to the output of the unit of external ballistics calculations. EFFECT: enhanced efficiency of fighting vehicle fire by low-ballistic shells in mountains. 3 cl, 10 dwg

Description

 The invention relates to the field of armament and military equipment, in particular to firing a combat vehicle (BM) in mountain conditions, with significant excess (lowering) of the target, for example, from a large-caliber low-ballistic gun.

 An analysis of the literature shows that there is a method of firing at a fighter’s target, which consists in detecting and identifying a target, aiming by an airplane, tracking a target while simultaneously calculating angular directions in a calculating and decisive device and opening fire provided that the aim mark is in the ring (tube) of the screen, and range to the target - in the zone of permitted firing ranges / 1 /.

 To implement this method, there is a firing system on fighters, including a sighting and sighting device, a computer, measuring instruments for the parameters of the firing conditions and the testing device, which generate signals to the pilot, by which he controls the aircraft and fires / 1 /.

 The disadvantage of the above method and its implementing system is the low efficiency of firing at an aerial target, due to large errors in determining the parameters of the firing conditions, inaccurate and incomplete determination of the firing resolution zone.

 There is also a method of firing BMPs at a target, which consists in searching (detecting), capturing targets for tracking, tracking the target and determining angular corrections for shooting, shooting taking them into account in the presence of a permission signal / 2 /.

 To implement this method on the BMP, there is a firing subsystem containing a sighting and sighting, navigation system, on-board computer, power drives PU (weapon stabilizer), machine-gun (gun) installation / 2 /.

 The disadvantage of the above method and its implementing subsystem is the low firing efficiency due to the simplified firing algorithm, in which, in particular, the target elevation angle is not taken into account, as well as the simplified shot resolution scheme - only on the basis of the tracking error of the weapon drives / 2 /.

 The closest technical solutions, selected as a prototype, is a method of firing a BM at a target, including detecting and identifying a target, taking it for tracking, tracking, then determining angular corrections of firing from mathematical expressions, deviation of machine-gun or cannon gun trunks according to them ( PU) with a simultaneous check of the conditions for finding the target in the affected area, in particular, at the maximum ballistic range, at the permissible angle of elevation of the line of sight in the vertical plane, by the allowable angle of the barrel’s elevation in the vertical plane, by the allowable angular mismatch between the line of sight and the line of the shot in the horizontal plane, by the allowable angular velocity, respectively, in the horizontal and vertical planes, by mistake of the position of the gun barrels in the horizontal and vertical planes, and shooting when they are performed / 3 /.

 The known fire protection system, selected as a prototype of the claimed system, contains a sighting and navigation system, an on-board computer system, which includes, in particular, an external ballistic calculation unit and a shooting resolution device, which in turn includes a range control unit, a unit control of the angle of elevation of the line of sight, control unit of the angle of elevation of the gun barrel, control unit of the angle of inconsistency between the line of sight and the shot line, control unit of the angular velocity of the line in izirovka and the control unit of an error of a drive, and also power drives of installation and machine-gun (gun) installation PU / 3 /.

 The disadvantage of this method and the system that implements it is the fact that when firing BMs, in particular large-caliber shells and low ballistics (for example, a 100-mm BMP-3 gun), the decrease (increase) in the ultimate ballistic range with positive (negative) is not taken into account corners of the target’s location, as well as when deviating from normal values of meteorological parameters (temperature Tv and air pressure N), etc.

 This leads to irrational expenditure of ammunition, a decrease in the ergonomic characteristics of the system, the inability to quickly navigate in a combat situation, and ultimately to a decrease in firing efficiency.

 The objective of the proposed method and the system that implements it is to increase the efficiency of firing BM projectiles with low ballistics in mountain conditions, with significant excess (lowering) the location of the target in relation to the location of the BM. This can be achieved by more rational use of ammunition, providing higher ergonomic characteristics of the system, increasing information content and more operational control in difficult combat situations, etc.

The problem is achieved in that in the known method of firing BM at a target, including detecting and identifying a target, taking it for tracking, tracking, then determining angular corrections of firing from mathematical expressions, deviating, in accordance with them, the barrels of a machine gun or cannon mount (PU) with by simultaneously checking the conditions for the target to be in the affected area, in particular, according to the maximum ballistic range, the allowable angle of the line of sight in the vertical plane, the allowable angular the coordination between the line of sight and the line of shot in the horizontal plane, according to the permissible angular velocity in the horizontal and vertical planes, respectively, by mistake of the position of the gun barrel in the horizontal and vertical planes, and firing at the target when they are carried out, for low-ballistic shells the limit on the ultimate ballistic range D _max = D (α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ ) take into account by comparing the aiming angle α _ε determined for the current firing range with the limit for the given elevation angle ε of the aiming angle α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ defined from the expression
α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ = α ^max | _{ε = 0} -0.5ε (*)
where α ^max | _{ε = 0} - limit (maximum) aiming angle for a given type of ammunition at zero elevation angle (ε = 0).

The problem is also solved by the fact that the maximum ballistic range D _max is determined additionally and taking into account deviations from normal values of temperature ΔT _in and air pressure ΔH, charge temperature ΔT _s , longitudinal wind W _x and deviations of the initial velocity and projectile mass Δv ₀ , Δm D _max = D (ε, ΔT _in , ΔH, ΔT _s , W _x , Δv ₀ , Δm) by determining the current aiming angle α _ε taking into account deviations from the normal values of the above parameters.

выход которого соединен с третьим входом ПУ, причем вход множительного устройства соединен с выходом обзорно-прицельной системы, второй вход сумматора соединен с выходом блока данных об оружии, а второй вход элемента сравнения

соединен с выходом блока внешнебаллистических расчетов.The task is achieved by the fact that in the known BM firing system for a target containing a survey-aiming, navigation system, an environmental data block, a weapon data block, an on-board computer system, including, in particular, an external ballistic calculation unit and a device firing permit, which in turn contains a range control unit, a control unit for the angle of elevation of the line of sight, a unit for control of the angle of elevation of the gun barrel, a unit for control of the angle of mismatch between the line of sight and the line of shots la, the control unit for the angular velocity of the line of sight and the control unit for error of the drive, as well as the power drives of the installation and machine-gun (gun) installation (PU), an aiming angle control unit consisting of series-connected multiplying devices (MUs) is additionally introduced into the firing resolution device inverse input, adder (SUM) and comparison element

the output of which is connected to the third input of the launcher, and the input of the multiplying device is connected to the output of the sighting system, the second input of the adder is connected to the output of the weapon data block, and the second input of the comparison element

connected to the output of the block of external ballistic calculations.

 It is the distant boundary of the firing (defeat) zone that is thus formed using the resolution angle control unit of the resolution device in this way, which ensures, according to the method, an increase in efficiency, in particular, due to a more rational consumption of ammunition when firing BM with low-ballistic projectiles in mountain conditions, with significant excesses ( lowering) the location of the target in relation to the location of the BM with the existing structure of the BM control system and thereby achieving a technical result.

A comparative analysis of the claimed solutions with the prototypes shows that the claimed method differs from the known one in that, prior to entering combat firing, the BM aircraft enter, in addition to the listed limiting characteristics, for example, permissible elevation (pumping) angles of sight and guns in the vertical plane, permissible angular mismatch between the line of sight and the line of shot in the horizontal plane, the allowable value of the angular velocity of the line of sight in horizontal and vertical, respectively planes, etc., for low-ballistic shells, in addition, the maximum aiming angle (for a zero elevation angle ε) for each type of ammunition used is α ^max | _{ε = 0} or the angle of greatest range, as defined in / 4 /. The largest-angle angle for shells of this type is about α ^max = 42-43 ^° / 4 / (unlike airless space, where α ^max = 45 ^° ).

БМП-3 составляет α^max = 42^°44′18″ при D_max=5111 м /5/, а для вновь разработанного 100-миллиметрового боеприпаса

α^max = 41^°39′51″ при D_max=42260 м /6/.For example, according to the shooting tables, the maximum aiming angle for a standard 100-mm munition

BMP-3 is α ^max = 42 ^° 44′18 ″ at D _max = 5111 m / 5 /, and for the newly developed 100 mm ammunition

α ^max = 41 ^° 39′51 ″ at D _max = 42260 m / 6 /.

For a high-speed projectile of a small-caliber 30 mm 2A72 BMP-3 gun, the maximum ballistic range D _max ^ball does not depend on the elevation angle: D _max ^ball = 4 km / 5 /, similarly, for example, for the AO-18KD ship’s gun in the anti-aircraft fire tables D _max ^Ball = 5 km / 7 /. Therefore, in the aircraft D _max ^ball for small-caliber guns, for example 2A72 BMP-3, is entered as a constant value in accordance with the shooting tables / 4 /.

Unlike small-caliber artillery with high-speed shells (v ₀ = 850-1000 m / s) for shells with a hinged trajectory (or grenade launcher, mortar fire, by definition / 8 /), the ultimate ballistic range for this type of ammunition depends on many factors that determine shooting conditions and manufacturing accuracy, and primarily on the target elevation angle ε.

D _max = D (ε, ΔT _in , ΔH, ΔT _s , W _x , Δv ₀ , Δm),
where ε is the elevation angle of the target,
ΔT _in - the deviation of the air temperature T _B from normal (T _B ^N = 15 ^o C),
ΔH - deviation of air pressure H from normal (H ^N = 750 mm RT. Art.),
ΔT _s - the deviation of the temperature of the charge T _s from normal (T _s ^N = 15 ^o C),
W _x - longitudinal wind speed,
Δv ₀ - deviation of the initial velocity of the projectile v ₀ from the nominal value,
Δm is the deviation of the projectile mass m from the nominal value.

 A clear illustration of the foregoing are given in Figs. 1-5, graphs of the dependencies of the maximum range on the meteorological conditions of firing and on manufacturing errors for a 100-mm standard projectile.

 The calculations for compiling firing tables using the full standardized model of projectile flight / 9 / for the standard and developed ammunition of the BMP-3 100-mm gun make it possible to establish empirical dependences of the maximum aiming angle (or angle of maximum range) on the elevation angle of the target, see Fig. 6.

The approximation of the graphs of dependences α ^max (ε) shown in Fig.6 allows us to establish a linear dependence of the form
α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ = A + B • ε [rad],
with coefficients
A = α ^max | _{ε = 0} , rad.
B = 0.5
The dependences obtained experimentally (calculated) are confirmed by analytical dependencies, for example, the well-known Lender formula / 10 /
sin (ε + 2α _ε ) = sin2α ₀ cos ² ε + sinε,
where α ₀ , α _ε are the aiming angle, respectively, for ε = 0 and for ε> 0.

When air resistance is taken into account, the right-hand side of the formula is slightly modified (specified): instead of sin2α ₀ , a more complex function is written as a function of the initial speed v ₀ , range D, and air resistance function b. However, the structure of the dependence remains unchanged.
sin (ε + 2α _ε ) = f (v ₀ , D, b) cos ² ε + sinε.
Since sin (ε + 2α _ε ) = F is a non-decreasing function in the 1st quarter, the maximum value of the argument corresponds to the maximum value of the right-hand side. Then at F = 1 ε + 2α _ε = 90 ^° ; whence α _ε = 45 ^° -ε / 2.

Taking into account air resistance, the maximum range angle α ₀ = 45 ^° should be specified corresponding to this type of projectile α ^max | _{ε = 0} .
Thus, using analytical calculations and calculating experimentally, the form and parameters of the dependence of the maximum (for a given elevation angle ε) aiming angle α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ from the elevation angle of the target ε.

 The above conclusions are confirmed by theoretical considerations given in the theory of external ballistics, in particular / 10 /.

где γ₀ = tgθ₀ - параметр семейства кривых,
θ₀ - угол бросания, равный сумме углов прицеливания α и места ε, θ₀ = α+ε,
v₀ - начальная скорость снаряда.In the theory of external ballistics, the equation of the trajectory family y = y (x) is known, corresponding to different cast angles (in the absence of air resistance)

where γ ₀ = tgθ ₀ is the parameter of the family of curves,
θ ₀ is the casting angle equal to the sum of the aiming angles α and the position ε, θ ₀ = α + ε,
v ₀ is the initial velocity of the projectile.

.After differentiating equation (**) with respect to the parameter and excluding it from the equation of the family, we obtain the envelope formula of the family of trajectories in the form

.

 The envelope of a family of curves is otherwise called a safety parabola.

For all points lying on the envelope, there is one value of the throw angle θ ₀ = α + ε, and this value corresponds to the value of the maximum firing range.

И при этом выполняется условие

И, наконец, для всех точек, лежащих за пределами огибающей

, нет для определения γ₀ действительных решений и, следовательно, не может быть поражена ни одна точка при любом угле бросания.For any point x, the space inside the envelope has two values θ ₀

And at the same time the condition

And finally, for all points outside the envelope

, there are no real solutions for determining γ ₀ and, therefore, no point can be struck at any casting angle.

.Passing to the polar coordinate system, the equation of the safety parabola for airless space is obtained in the form

.

In FIG. 7, a safety parabola is constructed - the dependence of the maximum range D _max on the elevation angle ε without taking into account air resistance (curve 1) and taking it into account (curve 2) for a 100-millimeter standard (v ₀ = 250 m / s) and new (v ₀ = 355 m / s) shells.

Analysis of the graphs shows the following. The limiting (maximum) range when changing the elevation angle of the target from ε = 0 (horizontally located target) to ε = 30 ^o decreases for a standard 100-mm projectile from D _max = 5111 m to D _max = 3580 m when air resistance and D are taken into account _max = 6371 m to D _max = 4247 m excluding air resistance.

For a new 100-mm projectile, the maximum firing range decreases, respectively, from D _max = 7260 m to 5370 m when air resistance is taken into account and from D _max = 13540 m to 8564 m without air resistance.

With a negative elevation angle ε = -10 ^{o, the} maximum range D _max increases respectively for a standard projectile up to 5840 m and for a new 100 mm projectile up to 8320 m.

The coefficients of decreasing the ultimate range D _max given in the same place in Fig. 7 taking into account air resistance are 1.18-1.32 for a standard and 1.60-1.86 for a new 100-mm projectile when changing elevation angles from ε = - 10 ^o to ε = 30 ^o .

 Thus, the values declared in the TTZ and firing tables for the ultimate firing range for low-ballistic shells vary significantly depending on the firing conditions and, in particular, on the elevation angle.

According to the proposed technical solution, the maximum aiming angle for a given ammunition is then calculated for a given target elevation angle ε from the relation
α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ = α ^max | _{ε = 0} −0.5ε.
In this case, the elevation angle value comes from the output of the aiming and navigation system in the BMP-3, for example, from the vertical guidance angle sensor (DU VN), with the carrier horizontally located:
ε = ε _lev .
In the general case, in the presence of a BM body turn in a vertical plane, the pitch angle θ coming from the pitch sensor (roll) is also taken into account
ε = ε _lv + θ.
And the maximum aiming angle for a given type of ammunition α ^max | _{ε = 0} is taken from the corresponding shooting tables.

In the process of tracking and firing, the aiming angle α _ε calculated in the block of external ballistic calculations is constantly compared with its maximum (limiting) value α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ and only if the condition α _ε <α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ carry out shooting. Otherwise, there should be a ban on shooting and an information message about the unattainability of the shell being tracked.

In firing tables, the maximum range D _{max is} indicated for normal (unperturbed) firing conditions. In real conditions, D _max differs from those indicated in the tables.

 The most accurate values of the aiming angle are obtained by solving the direct problem of external ballistics using a complete system of equations, for example, / 9 /, followed by finding the corresponding given range of the aiming angle α by iteration.

 Due to the need to solve this problem in real time with the existing level of computer technology, it is necessary to use simplified analytical methods.

A study using a complete system of (differential and algebraic) equations to take into account the influence of perturbations, deviations of air temperature T _in and charge T _s , pressure H, longitudinal wind W _x , deviations from the nominal value of the initial velocity Δv ₀ shows a very weak effect of these factors on the value maximum aiming angle α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ even with the simultaneous adverse effects of the above factors.

If there are deviations for each of the factors in the corresponding range of changes of each of them
-50 ^o C <T _in (T _in ) <+ 50 ^o C
460 mm. Hg. Art. <H <800 mmHg Art.

(

соответствует одному весовому знаку) значения максимального угла прицеливания для штатного 100-миллиметрового снаряда (при ε=0) находятся в диапазоне
0,982<sin2α₀<0,985.-2% v ₀ <Δv ₀ <+ 2% / v ₀

(

corresponds to one weight sign), the values of the maximum aiming angle for a standard 100-mm projectile (at ε = 0) are in the range
0.982 <sin2α ₀ <0.985.

/5, 6/, можно пренебречь влиянием на максимальный угол прицеливания α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ исследуемых возмущений.Given that, firstly, at values of α _ε close to the maximum aiming angles, a change in sin2α of 0.001 corresponds to a change in the aiming angle of 2 'and that, secondly, according to the shooting tables at maximum ranges, the sensitivity of the range to the angle decreases sharply aiming, see values

/ 5, 6 /, we can neglect the influence on the maximum aiming angle α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ investigated disturbances.

Thus, it was found that the value of α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ invariant to the above deviations and the limiting dependence (*) remains unchanged.

Declared in dependent claim 2 of the claims, accounting for deviations in air temperature T _in and charge T _s , air pressure H, longitudinal wind W _x , deviation of the initial velocity v ₀ and projectile mass m is carried out automatically when calculating the current (corresponding range) aiming angle , for example, according to an analytical algorithm.

,
где H₀, Т₀ - измеренные соответственно температура (^oК) и давление воздуха,
ΔT_в, ΔH - соответственно отклонение температуры и давления воздуха, введены для учета нелинейной зависимости от дальности.According to this algorithm, parameters such as the deviation of temperature and air pressure, as well as the deviation of the projectile mass, are taken into account when calculating the aiming angle α through the function of air resistance A, for example, in the form

,
where H ₀ , T ₀ - measured respectively temperature ( ^o K) and air pressure,
ΔT _in , ΔH - respectively, the deviation of temperature and air pressure, introduced to account for the nonlinear dependence on range.

- дальность стрельбы, км,
A₀...A₃ - коэффициенты аппроксимации функции сопротивления, рассчитанной для состояния нормальной атмосферы и при номинальном весе снаряда Δm=0.

- firing range, km,
A ₀ ... A ₃ - approximation coefficients of the resistance function calculated for the state of a normal atmosphere and with a nominal projectile weight Δm = 0.

The influence of the deviation of the projectile mass from the nominal Δm is taken into account in the algorithm simultaneously on the change in the initial velocity of the projectile
Δv _m = -0.006678Δm • l _m ,
where l _m is the coefficient of internal ballistics.

 The deviation in the initial velocity of the projectile, for example by batch scatter, is taken into account as a correction when calculating the initial velocity of the projectile, which is used later in the algorithm to determine the aiming angle, for example, as in / 10 /, p. 49.

,
где W_x - скорость продольного ветра, м/с,
t - полетное время снаряда, с,

- коэффициенты аппроксимации.The influence of the longitudinal wind W _x on the aiming angle can be taken into account, in particular, according to the dependence proposed in / 12 /

,
where W _x - longitudinal wind speed, m / s,
t is the flight time of the projectile, s,

- approximation coefficients.

The carried out approximation of the firing correction tables / 5 / allows us to identify the following relationships
D _max (ΔH, ΔT _in , ΔT _s , W _x , Δv ₀ , Δm), see Fig.1-6.

However, one should take into account the growing error of these graphical dependencies with increasing deviations from the reference point (T _in = T _s = 15 ^o C, H = 750 mm Hg, W _x = 0, Δv ₀ = Δm = 0) due to their nonlinear nature .

Thus, for projectiles of low (howitzer, grenade) ballistics with a hinged firing path, the maximum range D _max can significantly differ from that given in the firing tables when, firstly, the target’s elevation angle ε changes and, secondly, and to a lesser extent, from the state of the atmosphere (T _in , H, W _x ), storage conditions for ammunition (T _s ), manufacturing inaccuracy (Δv ₀ , Δm).
Modern aircraft, implemented on digital processors, create the prerequisites for a more complete consideration of the patterns and specifics of the functioning of systems.

A centralized accounting of the system’s maximum characteristics, in particular, the introduction of an aircraft resolution algorithm adapted to the conditions of application of the maximum firing range for low-ballistic shells, prevents, on the one hand, the irrational expenditure of ammunition associated with premature firing, and, on the other hand, more fully realize the capabilities of the weapon used, for example, to increase the range D> D _max when shooting in mountain conditions at a lower target, at low pressure (H <750 mm Hg), high temperature (T _in > 15 ^o С), etc.

 The use and further development of the proposed method allows the indication of the shooting zone (defeat) on the control panels of the commander, the gunner with the marking of its probability of destruction, which leads to an increase in the degree of automation of the system, its ergonomics and reliability, and ultimately to increase the efficiency of the BM.

In FIG. 1a, b shows the dependence of the maximum firing range D _max on air temperature T _c and charge temperature T _s .

In FIG. 2 shows the dependence of the maximum firing range D _max on air pressure H.

In FIG. _Figure 3 shows the dependence of the maximum firing range D _max on the deviation of the projectile mass from the nominal Δm.

On figa presents the dependence of the maximum firing range D _max on the deviation of the initial velocity of the projectile from the nominal value Δv ₀ , on figb - from the longitudinal wind speed W _x .

In FIG. 5 shows the dependence of the maximum firing range D _max on the elevation angle of the target ε.

In FIG. 6 shows the dependence of the maximum aiming angle α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ from the elevation angle of the target ε for a 100-mm projectile a) standard, b) being developed.

In FIG. 7, the dependences of the maximum firing range of 100 mm shells on elevation angles ε from -10 to + 30 ^{o are} constructed without and taking into account air resistance (parts of the safety parabola).

In FIG. 8 is a structural diagram of a BM firing circuit and a place in it of a firing resolution device, where
1 - survey and sighting system, 2 - optical sighting station (gunner’s device, operator, control panel, GS, ДУВН, ДУГН), 3 - laser range finder, 4 - navigation system, 5 - on-board computer system, 6 - external ballistic calculation unit, 7 - the unit of formation of kinematic lead angles, 8 - firing resolution device, 9 - gyrostabilizer, 10 - power drive horizontal guidance, 11 - power drive vertical guidance, 12 - cannon (machine gun) installation
Figure 9 presents the shooting resolution device and the place in it of the inventive control unit for aiming angle, where
1 - range control unit, 2 - control unit for aiming angle control, 3 - control unit for the angle of elevation of the line of sight, 4 - control unit for the angle of elevation of the gun barrel, 5 - control unit for the angle of inconsistency between the line of sight and the shot line, 6 - angular speed control unit line of sight, 7 - gun position error control unit.

 Figure 10 presents the control unit of the aiming angle.

 To confirm the technical feasibility of the proposed method (and device) below is an example of work.

After tracking the target from the sighting system 1, the computer system 5 (BC) receives signals about the target viewing angles β and ε and the angular velocities ω _YD , ω _ZD, respectively, in two planes of the coordinate system associated with the carrier (BM) X _H Y _H Z _H , as well as discrete range measurements (see Fig. 8). From the navigation system 4, the aircraft also receives data about the carrier: carrier speed, pitch angles, roll, etc.

 Previously, weapons data (ballistic coefficient, relative initial speed, firing tables or approximation coefficients), data on the environment (relative air density or pressure, its temperature, longitudinal and transverse wind speed), as well as data on limiting characteristics of BM subsystems (permissible values of the elevation angles of the line of sight and the gun in the vertical plane, the angular mismatch between the line of sight and the shot line in the horizontal plane ti, the sight line angular velocity, position errors of the gun barrel, the aiming range, and the range for small caliber ballistic weapons and high boresight angle for each type of projectile weapon ballistics low).

 Based on the information received, in block b of the external ballistic calculations, the aiming and derivation angles are determined, and in block 7, etc. other corrections, in particular kinematic, due to the movement of the target and the carrier, for parallax, etc. Their calculation is given in sufficient detail in the literature / 1-2, 11-12 /.

 Next, the combination of the worked out corrections for each of the channels goes to the input of the power drive.

 The power drive of the tower 10 and weapons 11, practicing control signals taking into account the feedback, deploy the barrels of the launcher 12 in the desired direction.

 In parallel with the calculation of the angular corrections of the shooting and the deviation of the trunks of the cannon (machine gun) installation in accordance with them, the target remains in the shooting (defeat) zone, for which several restrictions are checked in the resolution device.

 The resolution device operates as follows.

, а постоянно (с дискретностью счета) рассчитываемое в ВС значение упрежденной дальности D_у (дальность стрельбы) сравнивают с предельной баллистической дальностью D^бал _max, если предполагается стрельба малокалиберной артиллерии, например пушки 2А72 БМП-3.When tracking the target meeting point with the PU barrels, the analysis of the target’s stay in the shooting (defeat) zone begins with an analysis of the relative range from which to start shooting. For this, the value of the current range D coming from the laser rangefinder is compared with the allowable aiming range

, and constantly (with discreteness of counting), the value of the anticipated range D _y (firing range) calculated in the aircraft is compared with the ultimate ballistic range D ^ball _max , if small-caliber artillery firing, for example 2A72 BMP-3 guns, is expected.

For firing from a gun (cannon) of low ballistics, the ballistic reach is checked according to the proposed method by comparing the aiming angle α coming from the external ballistic unit with the maximum aiming angle α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ , which is also determined in the inventive block 2 control the angle of aim.

Block 2 control the aiming angle works as follows. From the output of the sighting system, for example, from the vertical angle sensor DU VN of the aiming device of the gunner, the value of the elevation angle ε (with the horizontal BM) is fed to the inverse input of the multiplying device (MU), where it is multiplied by 0.5. The signal from the MU output (-0.5ε) enters the adder (SUM), summing up with the value of the maximum aiming angle α ^max | _{ε = 0} . As a result, at the SUM output, we obtain the value of the maximum aiming angle for a given elevation angle ε α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ = α ^max | _{ε = 0} -0.5, with which there is a comparison of the aiming angle α _ε calculated in the block of kinematic corrections.

When the condition is met
α _ε <α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$
verification (control) of the following restrictions continues, otherwise a ban on shooting and the issuance of an information message to the gunner (commander) that the target is out of the ballistic reach of the projectile follow.

 The shooting ban is implemented as an interruption (non-inclusion) of the signal from the third output of the aircraft to the third (permissive) input of the launcher and, for example, a blue light (indication of the first type) lights up. In BMP-3, for example, such a lock is carried out by switching off: the voltage of the power supply does not go to the electromagnet of the trigger mechanism / 2 /.

When the target enters the shooting (defeat) zone, the blue light goes out and the test starts: by the permissible elevation angles of the guidance device ε and the gun ε _y , by the mismatch angle between the line of sight and the shot line in the horizontal plane Δβ _Σ , by the angular velocities of the line of sight ω _yD , (ω _zD ) and the permissible error of the power drive δ _β (δ _ε ) in the horizontal and vertical planes, respectively.

 If any of the above restrictions is not fulfilled, the signal does not arrive at the third (allowing) input of the launcher, thus organizing a ban on shooting. At the same time, for example, a red light comes on (indication of the second type). And only when passing through the entire chain of restrictions permission is given to shoot.

 Thus, the firing resolution device works. It can be built on well-known devices such as multiplier, adder, etc., logical elements (comparisons) of the type "and", "or", examples of the implementation of which are widely given in the relevant specialized literature, for example / 13-14 /.

Using the proposed method and the system that implements it will provide the following advantages over existing ones:
1. Prevention of irrational expenditure of ammunition associated with the premature firing of fire, and, accordingly, increasing the effectiveness of firing given ammunition. Such situations can arise, for example, in the presence of target elevation angles ε> 0, at an air pressure H> 750 mm Hg. v., and the outside temperature (charging) _T (T _h) <15 ^o C, etc.

2. A more complete realization of the capabilities of weapons through firing at ranges greater than those stated in the TTZ, for example, in mountainous conditions at a lower target, at an air pressure of N <750 mm Hg. v., and the temperature of air (charge) _T (T _h)> 15 ^o C, etc.

 3. Improving the ergonomic characteristics of the system due to greater visualization and information content of display systems, and ultimately BM automation.

SOURCES OF INFORMATION
1. R.V. Mubarakshin, V.M. Baluev. "Sights of aerial shooting", Textbook, M, VVIA Edition named after prof. NOT. Zhukovsky, 1968, pp. 85-90.

 2. The weapons complex 2K23 infantry fighting vehicle BMP-3. Technical description and instruction manual. Tula, KBP, 1997, pp. 1-10.

 3. Patent of Russia 2133432 (prototype), IPC 6 F 41 G 5/14.

 4. Manual on shooting from tanks. Basics of shooting from tanks. M., Military Publishing, 1994.

 5. Shooting tables for flat and mountainous conditions 100 mm guns - launchers 2A70 and 30 mm automatic guns 2A72 installed in the infantry fighting vehicle BMP-3. WG TS. M, Military Publishing, 1992, 9.

6. Technical information. The main and correction tables for firing an OFZ2 shell with target angles from -10 to 30 ^o . Tula, CBC, 2001.

 7. Antiaircraft firing tables of 30 mm high-explosive fragmentation incendiary and fragmentation tracer shells for the AO-18KD gun. Tula, KBP, 2001

 8. Theory of shooting from tanks. Ed. N.I. Romanova. Tutorial. M, Academy of Armored Forces named after Marshal Malinovsky R.A., 1972, p. 18.

 9. GOST 24288-80. Description of the projectile flight model.

 10. A.A. Konovalov, Yu.V. Nikolaev. External ballistics. M, Central Research Institute of Information, 1979.

 11. Patent of Russia 2087831, 08.20.97.

 12. Application for an invention. Prior. 99115860 dated July 19, 1999, Bull. 14 of May 20, 2001 "Inventions. Utility Models".

 13. E.A. Arkhangelsky, A.A. Znamensky et al. "Modeling on analog computers", Leningrad, ed. Energy, 1972

 14. E. D. Gorbatsevich, F.F. Levinson. "Analog Modeling of Control Systems", M, ed. Science, 1984

Claims (3)

1. A method of firing a combat vehicle (BM) at a target, including detecting and identifying a target, taking it for tracking, tracking, then determining angular corrections for firing from mathematical expressions, deviation of machine-gun or cannon launcher (PU) barrels in accordance with them while checking conditions for finding the target in the affected area, in particular, at the maximum ballistic range, and firing at the target when they are fulfilled, characterized in that for low-ballistic shells the limitation is on the maximum ballistic range Dmax = D (α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ ) take into account by comparing the aiming angle α _ε determined for the current firing range with the aiming angle α limiting for the given target elevation angle ε $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ defined from the expression
α $\genfrac{}{}{0ex}{}{\text{max}}{\text{ε}}$ = α ^max | _{ε = 0} -0.5ε,
where α ^max | _{ε = 0} is the limiting aiming angle for a given type of projectile with an elevation angle ε = 0. 2. The BM firing method for the target according to claim 1, characterized in that the ultimate ballistic range Dmax is additionally determined taking into account deviations from normal values of temperature ΔTv and air pressure ΔH, charge temperature ΔTz, longitudinal wind Wx, deviation of the initial speed ΔV0 and mass projectile Δm
Dmax = D (ε, ΔTв, ΔH, ΔTз, Wx, ΔV0, Δm)
by determining the current angle of aiming α _ε taking into account deviations from the normal values of the above parameters.  3. A BM firing system for a target, comprising a sighting and navigation system, a data block on the external environment, a weapon data block, an on-board computer system, including, in particular, an external ballistic calculation unit and a shooting resolution device, comprising in turn, the range control unit, the control unit for the angle of elevation of the line of sight, the unit for control of the angle of elevation of the gun barrel, the unit for control of the angle of mismatch between the line of sight and the shot line, the unit for control of the angular velocity of the line of sight The unit and the control unit for the error of the drive, as well as the power drives of the unit and the machine gun or cannon mount (PU), characterized in that the aiming angle control unit, which consists of a multiplier device with an inverse input, an adder and a comparison element, is additionally introduced into the firing resolution device the input of which is connected to the third input of the launcher, and the input of the multiplying device is connected to the output of the sighting system, the second input of the adder is connected to the output of the weapon data block, and the second to the course of the comparison element is connected to the output of the block of external ballistic calculations.

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