RU2243482C1 - Method for firing of fighting vehicle at target and system for its realization - Google Patents

Abstract

FIELD: armament and military equipment, in particular, protection of fighting vehicle against aerial attack aids, as well as firing, for example, in mountain conditions at elevations (depressions) of the target location with respect to the launcher.

SUBSTANCE: the accuracy and respectively the effect of fire of the fighting vehicle is enhanced firstly at firing of a small-caliber gun armament at aerial targets, especially in the near zone, as well as at a flight of the target at high altitudes; secondly, at firing of a gun of moderate (and low) ballistics in mountain conditions at elevations (depressions) of the target with respect to the gun (launcher) location. The known method for firing of a fighting vehicle at target includes the detection and identification of the target, tracking with determination of the target coordinats and parameters, determination of angular corrections: kinematic corrections for target and carrier motion, ballistic corrections (aiming angle α₀ and derivation angle β₀), cross wind W_z and longitudinal W_x ballistic wind speed corrections, sight and fighting machine parallax corrections from mathematical expressions, summation of them respectively in the horizontal and vertical channels with due account made for the bank angle and permanent deviation during firing with due account made for the computer angular corrections of the launcher barrels relative to the sight line. According to the invention, preliminarily before the firings, proceeding from the firing table, the dependence of the generalized parameter of the function of resistance on the range of fire A(D) for the projectile of each type is determined for the whole probable range of target elevation ε. After determination of the ballistic corrections, up to their summation, fighting vehicle trim θ is additionally determined, the summary target elevation with due account for fighting vehicle trim θ is determined, and sight angle α_ε is determined, with due account for target elevation ε, from the first mathematical expression. The total angular correction in the vertical channel is determined with due account made for obtained angle α_ε by way of its algebraic summation with the rest corrections.

EFFECT: enhanced accuracy and efficiency of fire of the fighting vehicle.

4 cl, 16 dwg

Description

The invention relates to the field of armament and military equipment, in particular to the protection of a combat vehicle (BM) from air attack means (IOS), as well as to firing, for example, in mountain conditions when the location of the target in relation to the launcher is exceeded (lowered).

A known method of firing BM, which consists in detecting and identifying a target, capturing a target for tracking, tracking a target with an aiming-navigation system with the delivery of the necessary parameters to the on-board computer, determining angular corrections of firing in the vertical and horizontal channels α and β, respectively, from the ratios

where α is the angle of aim;

γ is the angle of heel;

τ is the flight time of the projectile at a range;

ω _c - the relative angular velocity of the target in the horizontal plane;

D _y , D - respectively, the anticipated and current range to the target;

- отклонение соответственно температуры воздуха и заряда, давления воздуха от нормального;

- deviation, respectively, of air temperature and charge, air pressure from normal;

Δv ₀ is the deviation of the initial velocity of the projectile from the nominal value, the development of these amendments by the power drives of the machine gun (gun) installation (PU) and firing at the target / 1 /.

To implement this method on a BM there is a subsystem that includes an aiming and navigation system, an on-board analog computer, power drives, a machine-gun (gun) installation / 2 /.

The disadvantage of this method and the system that implements it is a large systematic error, due, in particular, to neglecting the target elevation angle ε when determining the aiming angle α when firing at air targets with a small-caliber gun, and in mountain conditions when exceeding (lowering) the target’s location relative to the PU during shooting 100 mm guns, see figure 3.

There is also a method of firing BM projectiles with moderate ballistics / 3 /, which consists in detecting and identifying targets, determining firing settings from mathematical relationships, in particular, the adjustment of the sight setting at the target’s elevation angle is calculated according to the dependence

where ε is the elevation angle of the target (it has a plus sign if the target is above the firing position (OP), minus if the target is below the OP),

to _pε is the coefficient of corrections of the aiming angle to the elevation angle of the target (takes into account the aiming angle α ₀ , the height of the target and the relative position of the target: above or below the gun),

development of firing installations with power drives of the gun and firing at the target / 2 /.

Studies have shown that the external ballistic characteristics are calculated, in particular, the aiming angle using the full standardized projectile flight model / 7 / for the entire range of projectile ballistics used in the BM, the dependence of the aiming angle on the range and elevation angle α (ε, D) is significant nonlinear in both arguments. From the above dependence (1) and the tables to _nε (α ₀ ) it can be seen that this nonlinearity is taken into account only in range, and an assumption is made about the linear dependence of Δαε on ε in elevation.

Thus, the disadvantage of this method and the system that implements it is that it does not take into account the nonlinear dependence of the aiming angle αε on the elevation angle ε, which ultimately leads to large systematic errors in the aiming angle, which is comparable to errors when it is not taken into account.

In addition, the proposed method of accounting for ε is rather cumbersome, because requires preliminary calculation of tables for each ballistics (projectile).

Finally, in the proposed method, in principle, the dependence of the limiting (maximum) range D _max on elevation angle ε cannot be taken into account. An additional limiting condition is required.

Therefore, the closest technical solution, selected as a prototype, is a method of firing BM at a target, which consists in detecting and recognizing, tracking the target with determining its coordinates and parameters, determining angular corrections: kinematic for the movement of the target and carrier, ballistic (aiming angle α ₀ derivation and β _0), the rate of the lateral and longitudinal W _Z W _X ballistic wind parallax sight and PU of mathematical expressions, summing them respectively in the horizontal and vertical channel m with the angle of roll and a constant deflection during the shooting with the developed angle correction trunks PU relative to the line of sight / 4 /.

To implement this method on a BM, a BM target shooting system is known that contains a sighting and sighting, navigation system, an environmental data unit, the unit’s power drives and machine-gun (cannon) installation, an on-board computer system (AF), which includes a development unit aiming angles α ₀ and β ₀ of derivation, the device forming angles feedforward whose inputs are connected via respective inputs to the inputs of the onboard surveillance sun-aiming, navigation systems and the data block of the external environment, and outputs - to the inputs accounting unit roll angle VS / 4 /.

The disadvantage of this method of firing BM is the neglect of the elevation angle ε of the target, which leads to large systematic errors both when firing small-caliber cannon weapons at air targets, especially in the near field, and when firing guns of moderate and low ballistics in mountain conditions when exceeding (lowering) the location of the target in relation to the launcher, see figure 1, 3.

This becomes unacceptable in the face of increased requirements for accuracy. On the one hand, this is due to the transition from anti-aircraft BM firing through angle sights to accompanying firing using a new sight of the commander (gunner) and a digital computer system with full algorithmic support. On the other hand, the new 100 mm projectile adopted for armament is designed for precise precision shooting due to tightening tolerances on the mass and initial velocity of the projectile.

The objective of the proposed method and its implementing system is to increase the accuracy and accordingly the effectiveness of firing BM, firstly, when firing small-caliber cannon weapons at air targets, especially in the near field, as well as when flying at high altitudes; secondly, when firing guns of moderate and low ballistics in mountainous conditions, when the target is exceeded (lowered) over the location of the gun (launcher).

To solve this problem, it is advisable to have a universal dependence and having obvious physical meaning for a wide range of calibers (d = 30, 100 mm).

The problem is solved in that in the known method of firing BM at a target, including target detection and recognition, tracking with determination of coordinates and target parameters, determination of angular corrections: kinematic for target and carrier motion, ballistic (aiming angle α ₀ and derivation β ₀ ) , the rate of the lateral and longitudinal W _Z W _X ballistic wind parallax sight and PU of mathematical expressions, summing them respectively in the horizontal and vertical channels, with the roll angle and Continuously off during firing, taking into account the worked out angular corrections of the PU barrels relative to the line of sight, according to the invention, prior to firing, based on the firing tables, they determine the dependence on the firing range of the generalized resistance function parameter A (D) for each type of projectile for the entire possible range of target elevation angles ε, and after determining the ballistic corrections before summing them, the BM ент trim is additionally determined, the total elevation angle of the target is determined taking into account the BM trim ε and the aiming angle I αε is determined taking into account the elevation angle ε from the relation

where α ₀ is the aiming angle at zero elevation angle ε = 0, taking into account air resistance,

x is the horizontal range of the target, x = Dcosε,

D - range to the target,

A ₀ , A is a generalized parameter characterizing the projectile drag function, respectively, at zero — ε = 0 and non-zero — ε ≠ 0 elevation angle

and the total angular correction in the vertical channel is determined taking into account the obtained angle αε by algebraically summing it with other corrections.

The problem is also solved by the fact that according to the invention, the aiming angle α ₀ is determined from the expression

where g is the acceleration of gravity,

V ₀ - the initial velocity of the projectile,

And ₀ is a generalized parameter characterizing the projectile drag function at ε = 0.

The problem is also solved by the fact that in the well-known BM firing system for a target, which contains a sighting and navigation system, a data unit on the external environment, power drives of the installation and machine-gun or cannon mount, an on-board computer system (AF), which includes in particular, a block for generating aiming angles α ₀ and derivation β ₀ , a device for generating lead angles, the inputs of which are connected through the corresponding inputs of the aircraft with the inputs of the sighting and navigation systems and the data block externally medium, and the outputs of the device for forming lead angles with the inputs of the roll angle meter of the aircraft, the outputs of which are connected to the inputs of the power drives, according to the invention, the aircraft also incorporates a meter for measuring the elevation angle of the target, and its first input is connected to the second output of the sighting system , the second - with the output of the navigation system, the third and fourth - with the outputs of the block for generating the aiming angle ε ₀ and derivation β ₀ , and the outputs of the block for measuring the elevation angle are connected to the inputs of the block for accounting the angle of heel of the aircraft.

The task is also solved by the fact that according to the invention, the elevation metering unit comprises a first sinus transducer (sin1), a first multiplier (MU1), a first adder (SUM1), a second functional converter (FP2), a third adder (SUM3), and a second a multiplying device (MU2), the output of which, as well as the output of the third functional converter FP3, is connected to the inputs of the roll angle meter, the second input MU1 is connected to the output of the first functional converter (FP1), the input is The horn, as well as the second input of FP3 are connected to the output of the cosine converter, the input of which, as well as the input of the second sine converter (sin2) and the inverse second input of the SUM3 are connected to the output of the second adder, the first input of which is connected to the second input of the sighting system, and the second its input is connected to the output of the navigation system, the output of the second sine transducer is connected to the second input of the SUM1, and the inputs of the first sine transducer and FP3 are connected to the outputs of the block for generating the aiming angle α ₀ and derivation β ₀ .

Thereby, the object of the invention is achieved. This allows us to conclude that the claimed invention is interconnected by a single inventive concept.

A comparative analysis of the claimed solutions with the prototypes shows that the claimed method differs from the known one in that after determining the ballistic corrections calculated at zero elevation angles, before summing them up with the other corrections, the dependence on the general firing range is determined before firing based on the firing tables (TS) parameter of the resistance function A (D) for the entire possible range of target elevation angles ε, and after determining the ballistic corrections before adding them up, we additionally determine add the BM trim ϑ, determine the total elevation angle of the target taking into account the BM trim ε, and the aiming angle αε determine the elevation angle ε from the relation

where α ₀ is the aiming angle at zero elevation angle ε = 0, taking into account air resistance,

x is the horizontal range of the target, x = Dcosε,

D - range to the target,

A ₀ , A is a generalized parameter characterizing the projectile drag function, respectively, at zero — ε = 0 and non-zero — ε ≠ 0 elevation angle.

The aiming angle at zero elevation angle α ₀ can be obtained either directly from the vehicle or from the analytical expression

where g is the acceleration of gravity,

V ₀ - the initial velocity of the projectile,

And ₀ is a generalized parameter characterizing the projectile drag function at ε = 0.

The total angular correction in the vertical channel is determined taking into account the obtained angle αε by its algebraic summation with other corrections.

An analysis of the literature / 5 / shows that in the LMS of existing BM-BMP, BTR, BMD and tanks external ballistic calculations are carried out under the assumption that the elevation angle ε = 0. When shooting in mountain conditions, at low-flying air targets, the neglect of the elevation angle leads to systematic errors, which significantly reduce the effectiveness of shooting.

Figures 1 and 2 show the dependences of the aiming angle α and flight time T _floor on the firing range D and elevation angle ε-α (D, ε) - figure 1, T _floor (D, ε) - figure 2, for full-time 30 mm AO-18 projectile (V ₀ = 980 m / s, OFZ). As can be seen from the graphs, the most significant change in elevation affects the angle of aim. In this case, the error increases nonlinearly with increasing elevation angle ε and firing range D.

уменьшается в полтора раза по сравнению с

с 18 до 11 мрад, что соответствует систематической ошибке δ=14 м.For example, at a distance of D = 4 km, the aiming angle is α ₀ = 74 mrad at zero elevation angle (ε = 0), αε = 70 mrad at ε = 20 °, and αε = 54 mrad at ε = 55 °. In other words, in BMP target lesion areas (ε ≠ 0 °, D <4 km), the systematic error can reach tens of meters. So, at D = 2000 m, the aiming angle

decreases one and a half times compared with

from 18 to 11 mrad, which corresponds to a systematic error of δ = 14 m.

The values of flight time are affected by the elevation angle much less, especially at short distances up to 2000 m: at a distance of D = 2000 m, the difference T _floor at zero elevation angle (ε = 0) and at ε = 55 ° is hundredths of a second.

However, the neglect of the elevation angle when calculating the T _floor in the presence of remote fuses when firing at a frontally flying air target can lead to large misses.

Figure 3 shows the dependence of the aiming angle α on the firing range D and elevation angle ε for a 100 mm projectile (V ₀ = 355 m / s). As follows from the graphs, neglecting the elevation angle leads to large systematic errors, reaching hundreds of mrad, especially at large distances and elevation angles.

Figure 4 presents a diagram for determining the angle of aim α at a non-zero elevation angle ε.

The so-called Lender formula obtained in the framework of the parabolic theory is known.

To derive this dependence, which allows us to take into account the elevation angle ε, the trajectory equation is expanded into a Taylor series and, limited to the first two terms of the expansion, we obtain / 6 /

where x, y are respectively the abscissa and the ordinate of the projectile,

γ ₀ is the derivative of y with respect to x at the time of projectile departure,

v ₀ - the initial velocity of the projectile,

g is the acceleration of gravity.

можно прийти к известной формуле Лендера, позволяющей установить соотношения между α и α₀ без учета сопротивления воздухаAnd after some trigonometric transformations while neglecting air resistance

we can come to the well-known Lender formula, which allows us to establish the relationship between α and α ₀ without taking into account air resistance

where ε is the elevation angle of the target,

α, α ₀ - aiming angle, respectively, for ε ≠ 0 and ε = 0.

It should be emphasized that the argument here is the range D.

In the Lender formula, the angle α is presented implicitly. After a series of trigonometric transformations, we obtain the dependence of the aiming angle on the elevation angle in explicit form

However, the dependence was obtained in the framework of the parabolic theory of shooting, i.e. excluding air resistance.

Такие ситуации могут возникать, например, при стрельбе 100 мм снарядом в горных условиях при отрицательных углах места.In addition, according to this dependence, it is impossible to calculate the aiming angle at ranges exceeding the maximum firing range at

Such situations can arise, for example, when firing a 100 mm shell in mountain conditions at negative elevation angles.

Let us prove that the dependence (2) is more general in comparison with the Lender formula or that the Lender formula follows from (2).

To do this, firstly, we make the first assumption: we ^{expand the} exponent e ^2Ax in a Laurent series (in the vicinity of the point x = 0), restricting ourselves to three terms

on dependence (2) we arrive at the following

where α ₀ is the aiming angle at ε = 0.

Thus, using the above arguments, we arrive at a simpler and more convenient dependence, similar in structure to the Lender formula, but having a more general meaning: the aiming angle at ε ≠ 0 - α _{0 is} determined taking into account air resistance.

The obtained analytical dependence makes it possible quite simply and with acceptable accuracy (and this will be proved later) to make the transition in the shooting algorithm from the basic (given in all shooting tables) aiming angle at ε = 0 - α ₀ to the aiming angle α at the real target elevation angle ε .

It can be proved that, under certain acceptable assumptions, instead of the trigonometric function sin 2α _0, it is advisable to write the function

where g is the acceleration of gravity,

V ₀ - the initial velocity of the projectile,

D is the firing range,

And ₀ is a generalized parameter characterizing the projectile drag function at ε = 0.

In the general case, the generalized parameter characterizing the resistance function A is determined from the analytical expression

where с _x (V _rτ ) is the reference function of air resistance versus the relative velocity of the projectile,

s - ballistic coefficient of the projectile, kgf / m ² ,

H ₀ - measured atmospheric pressure, mm Hg,

H _0N - normal atmospheric pressure equal to 750 mm Hg,

T ₀ - air temperature, K,

T _0N - normal air temperature equal to 288.9 K,

θ ₀ is the angle of the projectile.

However, introducing admissible simplifications that for a specific type of projectile, parameter A does not depend on the initial velocity of the projectile and ballistic coefficient, and cosθ≈const for a given range, parameter A can be considered only depending on range, A = A (D). The generalized parameter A can be determined in advance before firing for each type of ballistics (projectile) used on the BM, and, in particular, approximated by a polynomial of the nth degree from the firing range.

The approximating function A (D) is determined by selecting (calculating) its values at which the aiming angles calculated by the proposed algorithm correspond to the angles obtained by numerically integrating the equations of motion of the projectile according to the complete standardized model (from the TS) / 7 /.

If necessary, without significant loss of accuracy, the calculations can be simplified by replacing the exponential function in the calculation of α _{0 by} quadratic

after algebraic transformations we can get

Figures 5-7 show the dependences of the aiming angle on the inclined firing range for various elevation angles ε, obtained from the latest calculated TS / 10 / for different types of ammunition: high-explosive fragmentation incendiary (OFZ), fragmentation tracer (OT) and armor-piercing tracer (BT).

The dashed lines on each of them plot the curves α (Dε) obtained by calculation from the proposed dependence.

From figure 5-7 it follows that the maximum error in elevation does not exceed 1.0-1.5 mrad, and up to D = 2.5-3 km at ε = 60 °, the systematic error in the aiming angle δε≤0.5 -1.0 mrad.

Thus, the dependence of the aiming angle on the elevation angle α (ε) (3), proposed to prevent gross systematic errors, completely reflects both the qualitative picture of the phenomenon and corresponds to the required accuracy of calculations.

The following should be noted. Analysis of the external ballistic dependences α (D), T _floor (D) from various sources, in particular, for the AO-18 projectile, shows that the firing tables themselves are constantly being updated.

As noted in / 6 /, for the firing ranges of automatic weapons, the aiming angle is quite small, so we can assume that

Then from the Lender formula we can write

Some literature uses an even more simplified dependency.

To assess the limits of applicability of this dependence, the dependences α (D, ε) were constructed for the 30 mm BMP-3 gun (high-explosive fragmentation shell) and from the approximate dependence (4), see Fig. 8.

A comparison of FIGS. 5 and 8 shows that the deviation in α in the affected area (ε <60 °) is not more than 2-3 mrad.

However, due to the absence of restrictions on the processing power in modern digital warheads, for example, 1V539M, as well as in order to universalize the firing algorithm, it is advisable to use the full dependence (3).

As noted above, the armored BM / 5 / shooting tables developed to date have not taken into account the dependence of external ballistic characteristics and, above all, the aiming angle on the target elevation angle ε.

In the prepared supplement to RG-9 3, the Central Research Institute of Defense proposed taking into account the influence of the elevation angle ε on the aiming angle for 100 mm shells, introducing the dependence and the table of correction coefficients of the aiming angle K _p on the elevation angle / 3 /.

The correction of the installation of the sight at the elevation angle of the target is proposed to be calculated according to dependence 1

where ε _c is the elevation angle of the target (has a plus sign if the target is above the OP, “minus” if the target is below the OT, thousand,

To _p - the coefficient of corrections of the angle of aim at the elevation angle of the target (takes into account the angle of aim, the height of the OP and the location of the target).

A comparison is made of the proposed 3 Central Research Institute of ε values calculated according to the proposed dependence (and the coefficients given in / 3 /) and according to the invention according to the invention with the α values from the firing calculation tables obtained by solving the complete standardized system of differential equations (and confirmed by experimental shooting) .

Fig. 9 (a-e) shows the dependences of the aiming angle α on the firing range for elevation angles ε = 0, 10, 20, 30, and -10 °. The interval of elevation angles ε is selected based on the limitations of the fire control system (LMS) of promising BMs according to the angle of pumping of the line of sight in the vertical plane -10≤ε≤60, i.e. 60 ° up and 10 ° down when firing direct fire.

Figure 10 (a and b) additionally shows the dependence of the absolute error in the angle of aim Δα (10a) and the error in the range D (10b) from the range for 100 mm of the projectile. The error Δα is the difference between the aiming angle calculated by the proposed dependence (3) and the aiming angle obtained by solving the complete standardized system of equations of external ballistics / 7 / for this type of projectile.

The error ΔD was obtained on the basis of Δα taking into account the sensitivity coefficient X _thousand

Figure 11 shows the dependence of the absolute error in the aiming angle Δα on the range for a 100 mm projectile, calculated according to the dependence (1) (3 CRI).

Analysis of the graphs (Fig.9-11) allows us to draw the following conclusions:

1. The maximum systematic error (error) in the aiming angle α when calculating it according to the proposed dependence (3) does not exceed 2-3 mrad when the elevation angle changes from -10 to + 30 ° except for the last 200-300 m of the trajectory.

In this case, the maximum systematic error in range over the entire trajectory does not exceed 20-30 m, which is less than one likely deviation in range (1 Vd) at the corresponding range.

Given that the sensitivity of the range change to the change in the aiming angle for the considered 100 mm shells of low and moderate ballistics at extreme ranges decreases sharply (and this is reflected in the graphs of Figures 10a and 10b, secondly, firing at extreme (large) ranges is carried out as as a rule, for areal targets, and, thirdly, that the frequency of combat situations of firing a 100 mm projectile at large (extreme) elevation angles is small, we can conclude that the use of dependence (3) is acceptable when taking into account the elevation angle when implemented in Total time of accuracy of the source data.

2. The proposed method for taking ε into account according to dependence (1) using pre-calculated tables of correction factors 3 of the Central Research Institute gives a significant (up to 30 mrad at ε = 30 °) systematic error in the aiming angle ε, which increases sharply with increasing elevation angle. This is explained by the accepted assumption that the angular correction Δα is linearly dependent on the elevation angle ε.

In addition, this dependence (1), like any approximating dependence, loses its visual physical meaning in comparison with the analytical dependence (2) or (3) based on the Lender formula, and also requires additional calculations to determine the coefficients for each type of projectile , i.e. non-universal.

It was proved above that when firing a promising BM from both a 30 mm automatic gun and a 100 mm gun, it is necessary to take into account the angle of the meta target ε and a dependence is proposed for taking it into account.

However, when taking into account the elevation angle, the BM pitch angle and the angle of inclination of the line of sight relative to the plane of the tower are determined (measured) with some errors, therefore, it is necessary to take into account the influence of the accuracy of the initial data on the accuracy of determining the angle of aim α (hereinafter αε), i.e. random component of this error.

Let us estimate the error introduced into the aiming angle αε when taking into account the elevation angle according to (3) for a 30 mm projectile.

Using the linearization method / 8 / and assuming independent variables the aiming angle at zero elevation angle α ₀ and the elevation angle (equal to the sum of the pitch angle of the BM and the angle of inclination of the line of sight to the plane of the tower), we can write the standard deviation (RMS) of the aiming angle taking into account the elevation angle

- when calculating the proposed dependence (3)

- when calculating by simplified dependence (4)

-

Fig. 12 (a and b) shows the dependences of the standard deviation of determining αε for 30 mm OFZ projectile from the inclined range to the target for elevation angles ε = 10, 20 ... 60 ° for two values of standard deviation of determining the elevation angle σε = 3 'and σε = 20 '(correspond to their existing and perspective level).

не превышает соответственно сотых (при σε=3') и десятых долей процента (при σε=20').As follows from the graphs of Fig.12, the standard deviation for determining the aiming angle αε nonlinearly increases in range. According to our proposed dependence (2) and random errors are lower, especially at long ranges, than simplified (4). In this case, the relative error

does not exceed, respectively, hundredths (with σε = 3 ') and tenths of a percent (with σε = 20').

On Fig (a and b) and 14 (a and b) shows the dependence of the standard deviation of determining αε from the range for two types of 100 mm shells (Fig.13 - V ₀ = 355 m / s, Fig.14 - V ₀ = 250 m / s) for two RMS values for determining the elevation angle σε = 3 'and σε = 20' for elevation angles ε = -10, 0, 10, 20, and 30 °.

As follows from the graphs of Figures 13-14, the standard deviation for determining the aiming angle αε does not exceed 0.5 mrad, respectively, for σε = 3 'and 1.5 mrad, for σε = 20', and for the most part of the trajectory it amounts to hundredths and tenths of mrad .

на последнем участке траектории объясняется резким возрастанием угла прицеливания при приближении к предельным дальностям стрельбы. И, следовательно, относительная погрешность

при этом практически не возрастает и не превышает на всех дальностях стрельбы соответственно сотых (σε=3') и десятых (σε=20') долей процента.Some splash

in the last section of the trajectory is explained by a sharp increase in the aiming angle when approaching the limiting firing ranges. And therefore, the relative error

it practically does not increase and does not exceed, at all firing ranges, hundredths (σε = 3 ') and tenths (σε = 20') of a percent.

Thus, the above should remove the initial fears of developers about introducing an additional error into the aiming angle when taking into account the elevation angle of the target: even with the existing level of accuracy of navigation equipment (pitch sensor) and when shooting right away, the aiming angle αε will not be “noisy” with primary information errors , of course, when the equipment is in good condition.

The analysis of known methods of firing in this technical field did not allow to reveal in them a combination of features that distinguish the claimed solutions from prototypes.

The individual operations included in the inventive method are widely known. However, when they are introduced into the method in the indicated sequence (connection) according to the proposed ratios, the desired effect is achieved - increasing the firing efficiency of the BM at a high-speed air target.

When studying technical solutions in other areas of technology, the features that distinguish the claimed invention - BM firing system for the target from the prototype, were also not revealed.

This allows us to conclude that the proposed solutions meet the criteria of novelty and inventive step.

Figure 1 shows the dependence of the aiming angle α on the firing range D for various elevation angles ε for a standard 30 mm projectile AO-18 (V ₀ = 980 m / s, OFZ).

Figure 2 shows the dependence of flight time T _floor on firing range D at various elevation angles ε for a standard 30 mm projectile AO-18 (V ₀ = 980 m / s, OFZ) / 9 /.

Figure 3 shows the dependence of the aiming angle αε on the firing range D for various elevation angles ε for a standard 100 mm projectile (V ₀ = 355 m / s) / 9 /.

Figure 4 presents a diagram for determining the angle of aim α at a non-zero elevation angle ε.

Figure 5 presents the dependence of the aiming angle α on the firing range D for various values of the elevation angle ε for 30 mm high-explosive fragmentation incendiary projectile / 10 /.

Figure 6 presents the dependence of the aiming angle α on the firing range D for various elevation angles ε for 30 mm fragmentation tracer projectile / 10 /.

Figure 7 presents the dependence of the aiming angle α on the firing range D for various values of the elevation angle ε for 30 mm armor-piercing tracer projectile / 10 /.

Fig. 8 shows the dependences of the aiming angle αε on the firing range D for various elevation angles ε for 30 mm OFZ projectile, constructed according to the TS and the simplified dependence (4).

Fig. 9 (a-e) shows the dependences of the aiming angle α on the firing range D for elevation angles ε = 0, 10, 20, 30 and -10 ° for a standard 100 mm projectile (V ₀ = 355 m / s).

Figure 10 (a and b) shows the dependences of the absolute error - the systematic error in the aiming angle Δα and in the range ΔD on the firing range D for a standard 100 mm projectile (V ₀ = 355 m / s), obtained by calculation according to the proposed dependence ( 2), (3).

Figure 11 shows the dependences of the absolute error - the systematic error in the aiming angle Δα on the firing range D for a standard 100 mm projectile (V ₀ = 355 m / s) obtained in the calculation according to dependence (1).

Fig. 12 (a and b) shows the dependence of the standard deviation of the aiming angle αε for 30 mm OFZ projectile on the range to the target D for elevation angles ε = 10, 20 ... 60 ° for two values of standard deviation for determining the elevation angle σε = 3 '( figa) and σε = 20 '(fig.12b) when calculated according to the dependence (3) and (4).

13 (a and b) show the dependences of the standard deviation of the aiming angle αε for a 100 mm projectile (v ₀ = 355 m / s) on the range to the target D for elevation angles ε = -10, 0, 10, 20, and 30 ° for two values of the standard deviation of the elevation angle σε = 3 '(Fig.13a) and σε = 20' (Fig.13b).

On Fig (a and b) shows the dependence of the standard deviation of the aiming angle αε for 100 mm projectile (V ₀ = 250 m / s) from the range to the target D for elevation angles ε = -10, 0, 10, 20 and 30 ° for two values of the standard deviation of the elevation angle σε = 3 '(Fig.14a) and σε = 20' (Fig.14b).

On Fig presents a functional diagram of a system for firing a BM at a target and a place in it of the inventive unit for recording the elevation angle.

On Fig presents a structural diagram of a block accounting for elevation.

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

соответственно в двух плоскостях системы координат, связанной с носителем X_HY_HZ_H, а также дискретные замеры дальности D. С навигационной системы в ВС поступают также данные о носителе: скорость носителя, углы тангажа, крена и т.д.After taking a type of airplane (or helicopter) for tracking an attacking air target, the signals from the viewing angles β and ε and the angular velocities are continuously transmitted from the survey and aiming system to the computer system (BC)

respectively, in two planes of the coordinate system associated with the carrier X _H Y _H Z _H , as well as discrete measurements of the range D. From the navigation system, the aircraft also receives data on the carrier: carrier speed, pitch, roll, etc.

Previously, weapons data were introduced into the aircraft (ballistic coefficient, relative initial velocity of the projectile), as well as data on the external environment.

Based on the information received, the kinematic corrections due to the movement of the target and the carrier, Δβ and Δε, in the horizontal and vertical planes of the aiming coordinate system X _D Y _D Z _D , are calculated in the device for generating lead angles Δβ and Δε.

в блоке формирования скорости сближения

, вычисляется абсолютная начальная скорость снаряда v₀₁ в блоке формирования абсолютной начальной скорости снаряда из математического выражения, например,For this purpose, the speed of approaching the target with the carrier is preliminarily determined.

in the block forming the approach speed

, calculates the absolute initial velocity of the projectile v ₀₁ in the block forming the absolute initial velocity of the projectile from a mathematical expression, for example,

where v ₀ is the relative initial velocity of the projectile, m / s,

v _n - carrier speed (BM), m / s,

β, ε — angle of sight of the target, respectively, in the horizontal and vertical plane in the coordinate system associated with the carrier, rad

then find the flight time of the projectile t _floor and the anticipated range D _at

where c is the ballistic coefficient of the projectile, m ² / kgf,

N (N) is the relative density of air,

D, D _y - respectively, the current and anticipated range to the target, m,

- скорость сближения цели и носителя, м/с,

- speed of approach of the target and the carrier, m / s,

- угловая скорость линии визирования относительно соответственно вертикальной (OY_D) и горизонтальной (OZ_D) оси прицельной с. к. X_DY_DZ_D, 1/c,

- the angular velocity of the line of sight relative to the vertical (OY _D ) and horizontal (OZ _D ) axes of sighting, respectively. K. X _D Y _D Z _D , 1 / s,

t _З - delay time (time between the last measurement of coordinates and target parameters and a shot), sec.

In addition, the rest of the corrections are calculated in the aircraft, in particular, on the base (parallax), lowering the projectile under the influence of gravity (aiming angle), derivation, etc.

The values α ₀ and β ₀ calculated in the block for generating the aiming angle α ₀ and derivation β ₀ at zero elevation angle (ε = 0) were corrected in the elevation angle metering unit and only after that they arrive at the corresponding inputs of the roll angle metering unit.

Their calculation is given in sufficient detail in the extensive literature, in particular / 3, 5 /.

Next, the combination of the worked out corrections (taking into account the angle of heel) for each of the channels enters the input of the power drive.

Power drives, working out the control signals taking into account the feedback signal, at each moment of time deploy launchers in the right direction.

The use of the proposed method and the system that implements it will provide the following advantages over existing ones:

1. Increases accuracy and, accordingly, the effectiveness of shooting by preventing systematic errors at elevation angles other than zero.

2. The range of conditions for the combat use of both 30 mm automatic guns as anti-aircraft weapons and 100 mm guns is expanding due to the possibility of accurate shooting in mountain conditions when exceeding (lowering) the target’s location compared to the gun’s location. There is the possibility of using BMP-3 BM artillery weapons in urban conditions, in particular, shelling of the upper floors of buildings.

3. Compared with the traditional Lender formula, the proposed dependences allow one to calculate the aiming angle at ranges exceeding the maximum ballistic firing range (at ε = 0).

Sources of information

1. Product 1B539. Technical description PVA 3.031.039 TO Tula, KBP, 1985, pp. 12-16.

2. Weapon complex 2K23 infantry fighting vehicle BMP-3. Technical description and instruction manual. Tula, KBP, 1991, pp. 1-10.

3. The tabulated database for the calculation of installations when firing in plain and mountainous conditions from 100 mm guns - the 2A70 launcher installed in the BMP-3 infantry fighting vehicle. High-explosive fragmentation shell 3OF70, RPLA, 90004-01, Moscow, 3CNII of the RF Ministry of Defense, 2000.

4. Patent of Russia No. 2172463, IPC7 F 41 H 7/02, F 41 G 5/14 (prototype).

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. TS WG No. 9, M., Military Publishing, 1992.

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

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

8. E.S. Wentzel. Probability theory. State Publishing House of Physics and Literature, M., 1962.

9. Technical information. Main and correction tables for firing an OF32 projectile with target elevation angles from -10 to 30 °. Tula, KBP, 2001.

10. Anti-aircraft firing tables 30 mm high-explosive incendiary and fragmentation tracer shells for the gun AO-18KD. Tula, KBP, 2001.

Claims (4)

1. A method of firing a combat vehicle (BM) at a target, including target detection and recognition, tracking with determination of coordinates and target parameters, determination of angular corrections: kinematic for target and carrier movement, ballistic: aiming angle α ₀ and derivation β ₀ , speed lateral W _z and longitudinal W _x ballistic winds, on parallax sight and cannon mounts (PU) from mathematical expressions, summing them respectively along the horizontal and vertical channels taking into account the angle of heel and constant deviation during firing, taking into account the worked out angular corrections of PU shells relative to the line of sight, characterized in that previously, before firing, based on the firing tables, the dependence on the firing range of the generalized resistance function parameter A (D) for each type of projectile for the entire possible range of target elevation angles ε and after determining the ballistic corrections before summing them up, BM ент trim is additionally determined, the total elevation angle of the target is determined taking into account BM ε trim, and the aim angle αε is determined was given space angle ε from the relation

where α ₀ is the aiming angle at zero elevation angle ε = 0, taking into account air resistance; x is the horizontal range of the target, x = Dcosε; D - range to the target; A ₀ , A is a generalized parameter characterizing the projectile drag function, respectively, at zero — ε = 0 and a non-zero —ε ≠ 0 elevation angle, and the total angular correction in the vertical channel is determined taking into account the obtained angle αε by algebraically summing it with other corrections. 2. The method according to claim 1, characterized in that the aiming angle α ₀ is determined from the expression

where g is the acceleration of gravity; V ₀ - the initial velocity of the projectile; And ₀ is a generalized parameter characterizing the projectile drag function at ε = 0. 3. BM firing system for the target, containing a sighting, navigation, navigation system, data block on the external environment, power drives of the installation and machine-gun or cannon mount, on-board computer system (AF), which includes, in particular, a block for generating aiming angles α ₀ and derivations β ₀ , the device for forming lead angles, the inputs of which are connected through the corresponding inputs of the aircraft with the inputs of the sighting, navigation systems and data block on the external environment, and the outputs of the device for forming the angles of lead - with the inputs of the roll angle meter of the aircraft, the outputs of which are connected to the inputs of the power drives, characterized in that the aircraft additionally includes a meter for measuring the elevation angle of the target, with its first input connected to the second output of the sighting system, the second to the navigation output systems, the third and fourth - with the outputs of the block for generating the aiming angle ε ₀ and derivation β ₀ , and the outputs of the block for measuring the elevation angle are connected to the inputs of the block for accounting the angle of heel of the aircraft. 4. The system according to claim 2, characterized in that the elevation meter includes a first sinus transducer (sin1), a first multiplier (MU1), a first adder (SUM1), a second functional converter (FP2), and a third adder (SUM3) connected in series ), the second multiplying device (MU2), the output of which, as well as the output of the third functional converter ФП3, are connected to the inputs of the roll angle meter, the second input МУ1 is connected to the output of the first functional converter (ФП1), the input of which, as well as the second input of ФП3 connected to the output of the cosine converter, the input of which, as well as the input of the second sine converter (sin2) and the inverse second input of the SUM3 are connected to the output of the second adder, the first input of which is connected to the second input of the sighting system, and its second input is connected to the output of the navigation system , the output of the second sine converter is connected to the second input of the SUM1, and the inputs of the first sine converter and FP3 are connected to the outputs of the block for generating the aiming angle α ₀ and derivation β ₀ .

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