RU2231735C1 - Method and system of guidance of spin-stabilized missile by frequency laser radiation reflected from target - Google Patents

Abstract

FIELD: armament, in particular, artillery guided missiles with laser guidance.

SUBSTANCE: target lighting is switched on at the final section of the trajectory, then analog signals are formed with the aid of the optoelectronic correction head. These signals are numbered and introduced in a microprocessor for computation of the missile angular velocity spin, as well as of the value and phase of the miss. According to the number of the impulse vernier engine selected by the program, the signal of its starting is formed at the time instant computer with due account made for the tubular dependence of the corrective pulse length on the engine powder charge. The guidance system has functional units and circuits required for realization of the method.

EFFECT: enhanced accuracy and simplified guidance system.

2 cl, 3 dwg

Description

The invention relates to the field of armaments, in particular to guided projectiles containing an optoelectronic correction head (OEGK) for guidance on frequency laser radiation reflected from a target using pulse path correction.

A known method of controlling a projectile [1], based on the measurement using a gyroscopic homing head of the angular velocity of the line of sight at the direction finding site of the target, magnitude and phase of the miss to assign corrective forces and expose the projectile perpendicular to its longitudinal axis with corrective force to select the accumulated miss.

The disadvantages of this, adopted as a prototype of the method is that during each correction it does not provide a sufficiently fast turn of the projectile along the roll with the help of aerodynamic rudders to eliminate phase mismatch in the radial plane of the projectile between the accumulated miss and the corrective force, requires the launch of a solid fuel gas generator and resetting the plugs from one of the selected nozzles of the gas generator using special pyro charges.

The presence of a gyroscopic homing head, a gas generator with controlled nozzle plugs, and an aerodynamic rudder control system located on the head of the projectile significantly complicates the design of the guided projectile and requires periodic inspection of the control system during storage, in contrast to a projectile rotating on the final section of the projectile with a fixed semi-active laser head homing controlled by several rocket pulse trajectory correction engines.

The aim of the invention is to increase the accuracy of each correction while increasing the selected miss, as well as simplifying the guidance system.

, фазового угла пеленга цели за (N_s-1) периодов подсвета цели Т_п:This goal is achieved by the fact that in the method of guiding the projectile on the frequency laser radiation reflected from the target using pulse trajectory correction due to the IDC, which consists in delivering the projectile to the target along a ballistic trajectory, illuminating the target in the final portion of the trajectory, finding the target using the signals reflected from it and the impact on the projectile by corrective forces in the plane of the perpendicular axis of the projectile, in the correction area is calculated according to the readings of the fixed optoelectronic head ktsii (OEGK) target bearing angles is calculated for the projectile speed increment

, phase angle of the bearing of the target for (N _s -1) periods of illumination of the target T _p :

according to the readings of vane sensors - the angle of attack and slip, according to the readings of the temperature sensor from the table stored in the read-only memory (ROM), determine the formation time of the resultant thrust of the rocket engine correction τ _dv , and the moments of inclusion of the IDK are calculated by the formula

where t _on is the moment of switching on;

t is the current time;

N _d - the number of triggered IDK;

γ _a is the angle between the IDC nozzles located around the circumference of the projectile;

γ _c - phase position of the target;

γ _mouth - the installation angle of the IDK, and the start of the IDK is carried out when the lead angle module

where α ₁ and α ₂ are the angles of attack and slip;

Y and Z are the angles of the bearing of the target,

exceeds the current value of the dead zone (ZN), determined by the formula

or

where E ₀ is the initial SC relative to the OEGC axis;

K _t is the rate of change of ST;

t _З - target capture time;

t ₀ - the duration of the change in ST.

The proposed guidance method provides, for example, when turning on the frequency laser illumination of the target “Capture” the target, converting into binary code the signals from the sectors of the OEGK photodetector and from the sensors of the angle of attack and slip, then calculating the bearing of the target YZ, the angle of attack and slip α ₁ , α ₂ , the rotational speed of the projectile after receiving N _s “own” signals according to the formula (1), in which N _s is determined by the specified calculation accuracy ω _x , and the phase angle of the target bearing for the i-th signal is determined by the formula

as well as the calculation of the lead angle and deadband to determine the need for correction for one of the IDK after calculating its t _on . Thus, t _on calculated by formula (2) taking into account the magnitude and phase of the slip, the dependence of τ _dv on temperature, and the dependence of ω _x on the selected N _s provides a fairly accurate determination of the rotation of the resulting force vector in the direction of the slip vector.

This goal is also achieved by the fact that in the guidance system of a rotating projectile on the frequency laser radiation reflected from the target using pulse path correction, for example, due to an IDC containing ground-based frequency laser target-range finder, pulse correction motors on board the projectile control (BU) and optoelectronic correction head (OEGK), which includes the main blocks: the optical system (OS) as part of the interference optical filter (IF), the lens (O) and four ehsektornogo photodetector (FP); a four-channel signal processing unit, each channel of which consists of a series-connected attenuator, a preliminary amplifier, an adjustable amplifier, a scalable amplifier, an analog-to-digital converter (ADC), and auxiliary circuits: a signal adder, a maximum signal determinant, an automatic gain control comparator (AGC), signal detection comparator, noise automatic threshold adjustment circuit (SHARP), counter, the following changes were made:

a) a four-input serial data generating unit is introduced, the input of each channel of the signal processing unit being connected to the corresponding output of the photodetector sectors, and the outputs of each channel are connected to one of the four inputs of the serial data generating unit, which provides digital “Data” about the target bearing angle to the unit product management (control unit), and is controlled with the control unit “Synchronization” and the binary address “A0” and “A1”;

b) OEGK is made in a single body, which is mounted motionless along the longitudinal axis of the projectile;

c) the signal attenuator is made controlled from the highest level of the AGC counter;

d) the adjustable amplifier is controlled stepwise lower bits of the AGC counter through a digital-to-analog converter;

e) auxiliary OEGK circuits are connected to the main OEGK blocks or interconnected as follows: four outputs of large-scale amplifiers of the signal processing unit are connected to the inputs of the adder, the output of the adder is connected:

to the first input of the maximum signal determinant;

to the first input of the signal detection comparator;

to the first input of the AGC comparator;

to the input of the SHARP circuit,

and the output of the SHARP circuit is connected to the second input of the signal detection comparator, which generates the “Start” command on the control unit and launches the maximum signal determiner at the second input, to the third input of which, as well as the first input of the AGC counter, the signal “Strobe” is received from the control unit;

the output of the determinant of the maximum signal is connected to the second inputs of the ADC; the outputs of the least significant bits of the AGC counter are connected to the DAC, the output of which is connected to the second inputs of the adjustable amplifiers of the signal processing unit, and the output of the highest bits of the AGC counter is connected to the second inputs of the controlled attenuators of the signal processing unit;

f) a microprocessor (MP) has been introduced into the control unit for processing signals from the OEGK and for generating control signals, a device for interfacing the MP with other on-board devices (US), a non-volatile reprogrammable memory (EEPROM) that stores control programs and a table of correlation pulse durations depending on temperature, a device with power semiconductor switches (SEC), the inputs of which are connected to the corresponding outputs of the DC, and the outputs are connected respectively to the inputs of the pulse motors tion and the inlet cowl relief device, the temperature sensor is electrically coupled to CSS;

g) in the head part of the projectile are mounted articulated, for example, at an angle of 90 °, weathervanes placed in the aerodynamic flow kinematically connected to electric angle sensors, the outputs of which are connected to the control unit via the multiplexer and ADC to the control unit.

Figure 1 shows the structural diagram of the on-board guidance system of the projectile, which includes the optical system OEGK 1 as part of an interference optical filter (IF), lens (O) and a four-sector photodetector (FP), four-channel signal processing unit (BOS) 2, each channel of which consists of a series-connected attenuator (ATT), pre-amplifier (PU), an adjustable amplifier (RU), a scalable amplifier (MU), an analog-to-digital converter (ADC); serial data generation unit (BFPD) 3; adder (SUM) 4; signal maximum determinant (OMS) 5; comparator (CARU) 6; detection comparator (BER) 7; SHARP scheme 8; counter (SARU) 9; digital-to-analog converter (CAR) 10; control unit (BU) 11; interface device (US) 12; microprocessor (MP) 13 with an electrically reprogrammable ROM; fairing relief device (USO) 14; power semiconductor switches (SEC) 15; temperature sensor (DT) 16; multiplexer (M) 17 with ADC; pulse correction motors (IDK) 18; weathervane angle sensors (FDU) 19.

Figure 2 shows the timing diagram of the formation of the signal "Strobe". Figure 3 shows the timing diagram of the formation of signals "Synchronization".

The proposed on-board guidance system after turning on the frequency laser illumination of the target works as follows. The laser radiation reflected from the target is received by the OEGC optical system and is extracted against the background of the underlying surface using a narrow-band interference optical filter (IF). The lens (O) forms a light spot on the surface of the photodetector with a diameter approximately equal to half the diameter of the photodetector. As a photodetector, a four-sector silicon photodiode is used. Within the angular size of the light spot, the bearing of the target is determined by the following approximate relations:

where Y, Z are the angular coordinates of the bearing of the target along the axes perpendicular to the optical axis of the OEGC;

w1 ... w4 are the amplitudes of the signals taken from the four sectors of the photodetector;

k is the coefficient of proportionality, in degrees.

Since the signal processing circuit in the OEGC consists of four identical channels, then one channel will be considered in the description of the structural scheme.

The signal from the photodetector through the attenuator is fed to the preamplifier. The control unit is designed to match the amplifier stages of the channels with a high output impedance of the AF load and ensure low noise characteristics of the amplifier path, the control unit must provide high linearity of the transfer characteristic in the entire dynamic range of the input signals of the drive unit, and in the upper part of the dynamic range the signal at the input of the control unit is reduced by a stepwise ATT attenuator controlled by SARU 9.

The signal from the output of the control unit enters the switchgear. The gain is adjusted using SARU 9 and TsARU 10. Next, the signal through the MU is fed to the ADC input, the MU increases the amplitude of the signal at the ADC input for more complete use of its discharge grid, the signals from the MU outputs of all four channels also go to the SUM 4 input.

AGC works as follows.

The signal from the output of the SUM 4 arrives at the CARU 6 with a constant threshold of operation equal to the maximum possible amplitude of the signal from the output of the last stage of the amplifier (U _max ). If the amplitude of the signal from the adder reaches the threshold, then CARU 6 generates a signal to CARU 9. The low-order bits of CARU 9 control the operation of CARS 10, the voltage from which is supplied to adjustable amplifiers (RU), and the senior discharge of CARU 9 controls the operation of the ATT. In the initial state, after turning on the power, the SARU 9 is reset, and the switchgears have a maximum gain. According to the first command from CARU 6, CARU 9 takes on the value 0 0 1 and the gain of the RU decreases respectively in the second and in the third command. At the fourth command with CARU 6, ATTs are switched on. With subsequent signals from CARU 6, the state of the CARS does not change. To bring the counter to its initial state, it is necessary to remove and reapply the supply voltage. Thus, the operation of the AGC occurs only in one direction - a decrease in gain, which is due to the conditions for using OEGKs, when approaching the target, the signal can only increase.

The signal from the output of the adder also goes to BER 7, the threshold voltage of which is generated by the BARP 8. The BARP 8 circuit monitors the noise level of the photodetector and sets the detection threshold for the signal on BER 7. The need to monitor the noise level arises due to a significant increase in their level when exposed to strong solar background illumination of the area penetrating through a narrow-band interference optical filter (IF). When the signal exceeds the detection threshold, BER 7 generates a “Start” command, arriving at the control unit. The SHARP 8 circuit monitors the level of “normal” noise having an amplitude distribution according to the Gaussian law and does not respond to pulsed noise (arising from light flashes of shots in the field of view of OEGCs, signals from other LCDs, etc.). Selection by the period of the illumination pulses is carried out in the control unit, the initial signal is the “Start” command, the selection result (Fig. 2) comes from the control unit in the form of the enabling signal “Strobe” after a time interval T _p -0.5 T _c , where T _c - the duration of the "strobe". Until the end of the time interval, all the “Start” signals received at the input are ignored. After the countdown of the time interval, the signal “Strobe” takes the value “logical 0”. If after this, during the time T _c the “Start” signal arrives, then upon its decline the “Strobe” signal is transferred to the “logical 1” state, and the countdown of the time interval T _p -0.5 T _c starts anew. If there is no Start signal during the time T _c , the Strobe signal is put into the “logical 1” state, but the countdown of the time interval T _p -0.5 T _c starts only after the arrival of the first start signal after this event. Accordingly, the formation of the “Strobe” signal by this pulse is not performed. The strobe duration is determined by the instability of the master oscillators of the LCD and control unit. The signal "Strobe" is fed to SARU 9 and the OMS circuit.

The OMS circuit generates a command to start all ADCs at the moment the signal reaches its maximum amplitude. After starting, the ADC memorizes the signal amplitude level using the built-in “sampling-storing” scheme and proceeds to conversion to ADC. After completing this process, the result is stored in internal 10-bit registers. Reading the received data from the ADC and transferring them to the control unit is performed using the serial data generation unit. The reading process begins at the command of the MP after the passage of the “Start” signal (figure 3) and the delay for the ADC conversion time (T ₁ ≈5 μs). In the DC, a two-bit channel address (A1, A0) is set at the command of the MP and the USB gives a series of 10 synchronization pulses (“Sync”) to the input of the serial data generation unit. Each synchronization pulse initiates the appearance of a data bit on the serial “Data” bus, starting with the highest one. The address must be set before reading in a time T ₂ ≥0.5 μs. The reading procedure is repeated four times. Reading order by channel numbers is arbitrary. The reading of the first of four values begins after time T ₁ after the passage of the “Start” signal, which falls inside the “Strobe” signal. At the same time, sequential reading of analog signals from FDU 19 connected to the control unit through the MATS 17 to the DC 12 is performed.

The “capture” of the target is carried out after passing the third “Start” signal in the generated strobe, according to which the current counter located in the control unit is started by the MP command, and a signal is transmitted to the control unit to transmit the fairing by the MP command to the control unit and transmitted to the control unit 14, which is reset a fairing and a weather vane with electric angle sensors is revealed. Then, the increment of the phase angle of the bearing is calculated by the formula (6) and the shell rotation frequency ω _x by the formula (1). Further, with each “Start” signal passing in the generated strobe, the vane angle sensors are alternately interrogated according to the MP commands and the angles of attack and slip α ₁ and α _{2 are} determined in the MP.

Before each correction, the module of the mismatch angle is determined by the formula

the value of the dead zone E _ZN according to the formula (4) or (5). The correction is carried out at E _i ≥ Е _ЗН , and the time interval between corrections τ _dv is determined by the program, based on the duration of the IDK, determined by the table of its dependence on temperature, measured using the temperature sensor, and the time of the start of each correction is determined by the formula (2 ) so that the resulting direction of the corrective action from the start of the selected IDK lies in the slip plane. The start signal of the selected IDK is generated by the command of the MP in the DC and SEC, and then fed to the corresponding input of the IDK switch in the form of a current pulse for ignition of the IDK igniter. When the ratio for the ith start signal is E _{З Hi} > E _i, correction is not performed. The maximum number of corrections is equal to the number of IDKs. Thus, the proposed method and guidance system allows in conditions of an extremely limited interval of guidance time of 1-3 s due to the IDK, creating a significant transverse corrective force with an overload of up to 100 units with a speed of 0.02-0.05 s, it is enough to accurately determine the phase angle bearing, the position of the slip plane and guarantee the value of the angle of deviation from it of the vector of the resulting effort at each correction, much smaller than that of the prototype.

Sourse of information

1. RU 2021577 C1, F 41 G 7/22, 10/15/1994.

Claims (2)

1. The method of guiding a rotating projectile on the frequency laser radiation reflected from the target using pulse path correction, which consists in delivering the projectile to the target along a ballistic path, highlighting the target at the end of the projectile’s flight, detecting the target based on the signals reflected from it and impacting the projectile with corrective pulses correction engines in a plane perpendicular to the axis of the projectile, characterized in that in the correction section according to the readings of a fixed optical-electronic head, they use the angles of the bearing of the target, and the rotational speed of the projectile in increment

the phase angle of the bearing of the target for (N _s -1) periods of illumination of the target I _{n is} calculated by the formula

then, according to the readings of the vane sensors, the angles of attack and slip are calculated, from the readings of the temperature sensor from the table stored in the permanent storage device, τ _dw is determined - the formation time of the resultant thrust of the pulse motors, and the moments of their inclusion are calculated by the formula

where t _on is the moment of switching on; t is the current time; N _d - number of the triggered pulse motor; γ _a is the angle between the nozzles of pulsed engines located around the circumference of the projectile; γ _c - phase position of the target; γ _mouth - the installation angle of the pulse motor, moreover, the start of the pulse engine is carried out when the lead angle module

where α ₁ and α ₂ are the angles of attack and slip; Y and Z are the angles of the bearing of the target, exceeds the current dead zone value, determined by the formula

or

where E ₀ is the initial deadband relative to the axis of the optoelectronic correction head ;, To _t is the rate of change of the dead zone; t _s - time capture target; t ₀ - the duration of the change in the dead zone. 2. A system for guiding a rotating projectile by frequency laser radiation reflected from a target using pulse path correction, comprising a ground guidance tool and several pulse correction motors mounted on board the projectile, a control unit and an optoelectronic correction head (OEGK), including main units and auxiliary scheme, characterized in that the OEGC is made in a single housing, which is mounted motionless relative to the longitudinal axis of the projectile, the main blocks are made in the form of optical system consisting of an interference optical filter, a lens and a four-sector photodetector, a four-channel signal processing unit, each channel of which consists of a series-connected attenuator, a preliminary amplifier, a scalable amplifier, an analog-to-digital converter, and auxiliary circuits are made in the form of a signal adder, a maximum signal determinant , comparator automatic gain control, comparator detection signal circuit noise automatic adjustment threshold (SHARP) and automatic gain control counter, while auxiliary OEGK circuits are connected to the main units or interconnected as follows - four outputs of the scale amplifiers of the signal processing unit are connected to the adder inputs, the adder output is connected to the first input of the maximum signal determiner, to the first the input of the signal detection comparator, to the first input of the comparator of automatic gain control and to the input of the SHARP circuit, the output of which is connected to the second input of the comparator the signal intended for generating the “Start” command to the control unit and start on the second input of the maximum signal determiner, the third input of which, as well as the first input of the automatic gain control counter, is designed to receive the “Strobe” signal from the control unit, the output of the maximum signal determiner is connected with the second inputs of the analog-to-digital converter, the outputs of the least significant bits of the counter for automatic gain control are connected to a digital-to-analog converter, the output of which is sub it is connected to the second inputs of the adjustable amplifiers of the signal processing unit, and the high-order output of the counter of automatic gain control is connected to the second inputs of the controlled attenuators of the signal processing unit, while this system is equipped with a serial data generation unit in which the input of each signal processing channel is connected to the corresponding output of the pads photodetector, and the outputs of each channel are connected to one of the four inputs of the serial data generating unit, which provides The digital “Data” about the angle of the bearing of the target to the control unit is controlled from the control unit by the “Synchronization” commands and the binary address “A0” and “A1”, and the control unit is equipped with a microprocessor for processing signals from OEGKs and for generating control signals, a microprocessor interface device with other on-board devices, non-volatile non-reprogrammable read-only memory designed to store control programs and a table of temperature dependence of the duration of correction pulses, set a device with power semiconductor switches, the inputs of which are connected to the corresponding outputs of the on-board devices, and the outputs are connected respectively to the inputs of the pulse correction motors and the input of the fairing reset device, and the temperature sensor connected to the interface, the shell being equipped with weathercocks pivotally mounted in its head , for example, at an angle of 90 °, with the possibility of placement in the aerodynamic flow, while these weathervanes are kinematically connected with electrical angle sensors, in passages which are connected to the control unit via a multiplexer and an analog-digital converter to the device interface.

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