RU2258888C1 - Method for missile beam teleguidance and teleguidance system for its realization - Google Patents

Abstract

FIELD: armament, in particular, rocketry, applicable in development of rocket complexes, in which teleguidance beam systems are used.

SUBSTANCE: at the offered missile beam teleguidance method the missile is introduced in the missile beam area, measured on the missile its co-ordinates relative to the aiming point, and then control signals are produced. The value of the time is prescribed on the missile, during which the last values of coordinates in the course and the pitch are memorized at an interruption of the communication line, the values of co-ordinates are nullified during the time of memorization exceeding the preset value and displayed the measured values of coordinates at an appearance of signals of teleguidance from the moment of restoration of the communication line. The system of missile beam teleguidance realizing the method has on the missile a series-connected receiver and a unit for separation of channels in the coarse and pitch, whose channel outputs are connected to one of the two networks consisting of a time-code transducer and a storage unit respectively in the course and pitch. In each network the recording input of storage unit is connected to the first output of the time-code transducer, and the information input - to the second output of the time-code transducer. Control station is linked with the receiver input. Use is made of the memorizing value monitoring unit, made in the form of a "OR"-gate, pulse counter, R-S flip-flop and a synchronizer, the output of the "OR"-gate is connected to the nullification input of the coarse and pitch channel storage unit, and the first and second inputs of the "OR"-gate are connected to the first and second outputs of the time-code transducers respectively in the course and pitch.

EFFECT: enhanced accuracy of missile guidance due to exclusion of the false control command at an interruption of the communication line.

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Description

The invention relates to the field of armaments, namely to rocket technology, and can be used in the development of missile systems in which beam television systems are used.

In beam television systems, the spatial structure of the electromagnetic control field is created, created by the transmitting device from the control point, while the parameters of the control field are functionally related to the coordinates of the corresponding points [1], for example, in the Cartesian coordinate system "Z0Y", where "Z" is the coordinate value at the heading, "Y" is the value of the coordinate along the pitch, "0" is the origin, which coincides with the center of the control field and is the aiming (pointing) point. The formation of the control field is carried out by scanning the radiation pattern of electromagnetic radiation in two mutually perpendicular directions (along the "Y" and "Z", respectively), while the magnitude of the commands is changed in proportion to the scanning angle. Thus, in the "Z0Y" plane, the field has unit values (with different signs, respectively) of the command values along the edges, and zero in the center. The on-board equipment located on the rocket measures the parameters of the electromagnetic field and determines its position relative to "0".

There is a known method for telecasting a rocket along the beam of a rocket [1], which consists in introducing a rocket into the radio beam zone, and then controlling a television guidance system in which the electromagnetic field parameter is measured on the rocket and its position relative to the control point is determined, i.e. its coordinates relative to the aiming point.

A known missile guidance system using a radio line with time-pulse modulation of a subcarrier signal and amplitude carrier modulation (VIM-AM) [1], containing a control point (transmitting path), and on the rocket - a receiver whose output is connected to the input of the channel separation equipment (series-connected forming cascade and decoders), the outputs of which are channel-connected to the decoding equipment at the heading and pitch (trigger and low-pass filter sequentially connected in each channel).

In this well-known command system for guiding a missile at a target, the decoding equipment performs a time-voltage conversion function in which the low-pass filter is a memory, and it can be used for its intended purpose in the beam telemetry system, for example, when scanning the antenna radiation pattern in turn and pitch, in accordance with which form two command signals U _kc1 and U _kc2 at the control point.

Since a rocket in the beam television guidance system measures the electromagnetic field parameter (which can be changed according to the VIM-AM law or, for example, VIM) and determines its position with respect to the aiming point, i.e. their coordinates at the “Z” course and the “Y” pitch, then even with a short interruption (shielding) of this electromagnetic field, the rocket becomes uncontrollable and may be lost.

Interruption of the electromagnetic field (communication line) is especially important for an optical communication line when flying a rocket at low altitude parallel to the surface, for example, for anti-tank guided missiles (ATGM) during artillery shelling, when masses of soil and dust rise up.

In the known method of telecasting a rocket along a beam and a telecasting system along a beam, when the communication line is interrupted, coordinate signals U _k1 and U _k2 are generated that do not correspond to the actual position of the rocket relative to the target, which leads to missile loss, for example, due to sticking triggers in one of two positions the value of the coordinate will have the maximum value of one or another sign.

Thus, in the real world conditions for the application of the known method and system for guiding the rocket in the beam, there is a temporary overlap (interruption) of the communication line connecting the control point to the guided missile, in which the missile can exit the beam (control field) and become uncontrollable.

Therefore, the disadvantage of the prototype (method and device) is the decrease in the accuracy of guidance of the rocket.

The objective of the present invention (method and device) is to increase the accuracy of missile guidance by eliminating a false control command when the communication line is interrupted.

The problem is solved due to the fact that in the method of guiding the rocket along the beam, the rocket is introduced into the beam zone, its coordinates are measured on the rocket relative to the aiming point, and then control signals are generated, and additionally, the rocket sets the amount of time during which the last coordinate values the course and the pitch when the communication line is interrupted, reset the coordinate values at a memorization time greater than a predetermined value, and set the measured coordinate values when TV signals appear with m ment recovery link.

A beam guidance system for a missile that implements the method comprises a receiver and a channel separation unit in the direction and pitch, the outputs of which are channel-connected to one of two chains consisting of a time-code converter and a memory unit in direction and pitch, respectively, in each chain, the recording input of the memory block is connected to the first output of the time-code converter, and the information input is connected to the second output of the time-code converter, while the control point is connected to the receiver input; a control unit for the value of the memory time is introduced, made in the form of an OR logic circuit, a pulse counter, an RS trigger and a synchronizer, while the output of an OR logic circuit is connected to the zeroing pulse counter and the first RS trigger input, the second input of which is connected to the output of the pulse counter, the counting input of which is connected to the output of the synchronizer, the output of the RS-trigger connected to the zeroing inputs of the memory blocks of the channel channels and pitch, and the first and second inputs of the logic circuit OR connected to the first outputs inverters time code, respectively, rate and pitch.

The claimed method is implemented as follows. At the launch site, i.e. at the site of launching the rocket onto the flight path, the rocket is introduced into the beam zone (in the control field) formed by the control point. After the missile is introduced into the beam zone, it is controlled by a television guidance system, in which the coordinates of the rocket are measured at the heading and pitch (corresponding electrical signals) relative to the aiming point, which coincides with the center of the control field, and then control signals are generated.

When the communication line on the missile is interrupted, the countdown of the missile’s lack of communication with the control center begins, during which the last values of the coordinates along the course and pitch are remembered. The value of the time reference (time interval) is set. If the interruption of the communication line exceeds the set time value, i.e. at the time of memorizing the last coordinate values at the heading and pitch greater than the specified value, the coordinates on the rocket are reset. From the moment the communication line is restored, when television signals appear on the rocket, the newly measured coordinate values are set at the heading and pitch (whether the last stored coordinate values are stored independently or are they reset to zero).

The countdown of the set value of the memorization time begins when the telecast signals disappear, for example, from the moment the command messages disappear at the heading or pitch or both.

The specific value of the memorization time is set based on the parameters of a particular tele-targeting system in the beam, for example, determined by the size of the control field, the maximum angular velocity of tracking the target, the speed of the rocket, etc., at which they tend to keep the rocket's flight path for as long as possible (in the absence of guidance signals ) along a straight line connecting the control point with the target.

The invention is illustrated by drawings (figures 1 and 2). Figure 1 shows the structural electrical diagram of the telemetry system of the rocket along the beam, where: 1 - rocket, 2 - receiver, 3 - control point, 4 - channel separation unit along the course and pitch, 5a and 5b - the first and second time converters code, 6a, 6b, 6c and 6g - “I” logic circuits, 7a and 7b - delay circuits, 8a and 86 - initialization schemes, 9 - shift register, 10a, 10b and 10b - RS triggers, 11 - control unit for the value of the memorization time, 12a, 12b and 12b - logical circuits "OR", 13a and 13b - memory blocks according to the course and pitch, 14a, 14b and 14b-count and pulses 15a, 15b and 15c - synchronizers.

Figure 2 shows the diagrams of the signals where: a - the signal at the output of the receiver 2, b - the signal at the output of the logic circuit "6" 6a, c - the signal at the output of the delay circuit 76, d - the signal at the output of the RS-trigger 10a, d is the signal at the output of the logic circuit “I” 6c, e is the signal at the output of the delay circuit 7a, g is the signal at the output of the RS trigger 10b, s is the signal at the output of the pulse counter (in analog form) 14c, and is the signal at the output a memory unit 13a.

The missile TV guidance system on the missile includes a receiver 2 in series with a channel 2 and a channel separation unit at the “Z” course and “Y” pitch 4, the outputs of which are channel-connected to one of two chains consisting of a time-code converter 5a or 5b and a unit memory 13a or 13b, respectively, at the rate of "Z" or pitch "Y". In each chain, the recording input (input "C") of the memory unit 13a or 13b is connected to the first output of the time-code converter 5a and 5b, respectively, and the information input (input "D") is connected to the second input of the time-code converter. The control point 3 is connected (by electromagnetic radiation) to the input of the receiver 2. The control unit for the memory time 11 is made in the form of an OR logic 12v, a pulse counter 14a, an RS-trigger 10v and a synchronizer 15v. The output of the OR logic circuit 12c is connected to the zeroing input (input "R") of the pulse counter 14a and the first input (input "R") of the RS flip-flop 10b, the second input (input "S") of which is connected to the output of the pulse counter 14a, counting input (input "C") which is connected to the output of the synchronizer 15v. The output of the RS-flip-flop 10b is connected to the zeroing inputs (inputs "R") of the memory blocks of the channels of the course 13a and pitch 13b. The first and second inputs of the “OR” logic circuit 12c are connected to the first outputs of the time-code converters, respectively, at the rate “Z” 5a and pitch “Y” 5b.

The receiver 2 can be performed, for example, as in the prototype. The control point 3 can be performed as a transmitting device that sequentially scans the beam in two mutually perpendicular directions along the course and pitch, while the electromagnetic field parameters are changed in proportion to the scanning angle, for example, according to the VIM law with or without additional AM carrier wave.

Examples of implementation of the equipment for separating channels 4 and the time-code converter in the channels of the heading "Z" 5a and pitch "Y" 5b are shown in Fig. 1, while the time-code converter 5a is identical to the converter 5b, and the code is the voltage value in digital form. The memory blocks 13a and 13b can be performed on registers, for example, chip 564IR6.

Logic circuits “I” 6a, 6b, 6c and 6d are two-input logic circuits “I”. Delay circuits 7a and 7b, for example, two series-connected standby multivibrators. The initialization schemes 8a and 8b can be performed, for example, as differentiating chains. Shift register 9, for example, chip 564IR2. RS triggers 10a, 10b and 10c, for example, 564TM2 chip. OR logic circuits 12a, 12b and 12c are two-input OR logic circuits. The pulse counters 14a, 14b and 14c are microcircuits, for example 564IE10. Synchronizers 15a, 15b and 15c are quartz pulse oscillators, which can be made in the form of a single oscillator. Since the circuits 12v, 14a, 10c, and 15c function as a time value control unit, these circuits are shown in Fig. 1 in the form of a block 11.

The claimed telecasting system of the rocket along the beam works as follows. At the initial moment of time, when the on-board power supply enters the operating mode, one-time pulses are formed by the installation circuits in the initial state 8a and 8b. Scheme 8b sets at the input "R" all the bits of the shift register 9 in the equipment for channel separation 4 in the zero initial state. The circuit 8a in the time-code converter 5a through the OR logic 12b at the input "R" of the RS flip-flop 10b sets a zero logic level at its output, which prohibits the passage of pulses from the output of the synchronizer 15b through the And logic 6g to the counting input (input "C") of the pulse counter 14c.

From the moment the supply voltage appears on the rocket 1 and until it enters the control field, i.e. until the first pulse appears at the output of the logic circuit "And" 6a, at the input "R" of the pulse counter 14b is a logical zero. The pulse counter 14b is in an arbitrary initial state and produces a pulse count at the input "C" from the synchronizer 15b. When a single logic level appears at the output of the pulse counter 14b, it, through the OR logic 12a, sets the input of the "R" RS trigger 10a at its output to a zero logic level.

The control point 3 forms a control field, for example a VIM signal in the form of pairs of pulses. The temporary distance between the pairs of these pulses is the value of the command, and in the pair is a sign of the team belonging to the pitch or course channels (plot a in figure 2). When scanning, the distance between the pairs of pulses is changed (command message), and when the scanning direction is changed to perpendicular, the time distance in each pair is changed, i.e. when scanning on “Z”, the value of the time interval will have one value, and on “Y” - another. Additionally, this signal can be subjected, for example, to AM.

When rocket 1 enters the control field, receiver 2 converts electromagnetic radiation from control point 3 into electrical impulses (plot a in FIG. 2), which are fed to the input of the channel separation unit at the heading and pitch 4. In block 4, as noted above, are installed zero logic levels at all the outputs (bits) of the shift register 9. When pulses appear from the output of the receiver 2 at the information ("D") input of the shift register 9, they begin to shift by pulses from the synchronizer 15a to the input "C".

Thus, the shift register 9 performs the function of a delay line, while the delay value of the pulses at the first and second outputs of the shift register 9 relative to the input (at the input "D") is chosen equal to the time interval between the first and second pulses in pairs, respectively, in the channel of the course "Z "and pitch" Y ". These delayed and uncontrolled pulses are supplied to the first and second inputs of the first 6a and second 66 of the “And” logic circuit, respectively, at the output of which pulses are generated (plot b in FIG. 2). The temporal distance between pulses determines the value of command messages at the heading "Z" and pitch "Y", respectively.

Command messages on the course "Z" and pitch "Y" from the outputs of the channel separation unit 4 are received at the inputs of the first 5a and second 56 time-code converters, respectively. When the first pulse appears from the output Z 'of the channel separation unit in the direction and pitch 4 (plot b in Fig. 2), the delay circuit 7b generates a delay of this pulse in time by an amount shorter than the minimum time interval between the second pulses from pairs (plot in Fig. .2). This delayed pulse then goes to the "S" input of the RS flip-flop 10a and sets a single logic level at its output (diagram r in Fig. 2). This level is fed to the input of the logic circuit “I” 6c and allows the passage of the second pulse (diagram b in FIG. 2) to the output of the logic circuit “I” 6c (diagram d in FIG. 2). In this case, the pulse from the output of the logic circuit “AND” 6c through the logic circuit “OR” 12a at the input “R” sets the logic level at the output of the RS-flip-flop 10a (diagram r in Fig. 2) until the next pulse (diagram in figure 2), after which the process is repeated again.

At the same time, the pulses from the output Z 'of the channel separation unit along the course and pitch 4 are fed to the second delay circuit 7a, which delays the pulses in time (plot e in FIG. 2), which reset the pulse counter 14c at the input “R” (plot 3 in FIG. 2), set at the "S" input at the output of the second RS-trigger 10b a single logic level (diagram G in Fig.2), which allows the passage of pulses from the synchronizer 15b to the output of the logic circuit "And" 6g, and therefore to the counting input (input "C") of the pulse counter 14c. The pulse counter 14B begins to count in binary parallel code the duration of the pulses shown on the plot g (figure 2). As follows (from diagram g), the distance between pulses (zero logic level) corresponds to the storage time of the binary number corresponding to the value of the "Z" coordinate in the pulse counter 14c, which is necessary for recording information from the pulse counter 14b in the memory unit 13a, after which it is zeroed at the input "R" and the process repeats again.

During the storage time of the information in the pulse counter 14c, the pulses from the output of the logic circuit “And” 6c (diagram d in FIG. 2) are fed to the input “C” of the memory unit 13a and the binary value is recorded (overwritten) from the pulse counter 14b, entering the inputs "D". Thus, the memory unit 13a stores the value of the coordinate along the channel channel "Z" (plot and figure 2).

The time-code converter 5b in pitch channel "Y" is completely similar to the time-code converter 5a in heading channel "Z". Recording signals (from the output of block 6c) from both time-code converters are received respectively at the first and second inputs of the OR logic circuit 12v. The signal from the output of the logic circuit "OR" 12v is fed to the "R" input of the pulse counter 14a and resets it. Thus, the output of the pulse counter 14a (for example, at its highest level) always has a logic level of zero.

When the communication line is interrupted, there are no signals at the outputs Z 'and Y' of the channel separation unit at the heading and pitch 4, which means that there are no signals at the first and second inputs of the OR logic circuit 12c, while at the "R" inputs of the pulse counter 14a and RS flip-flops 10v will be logical zeros. The pulse counter 14a counts the pulses arriving at its “C” input from the synchronizer 15b, and upon reaching the specified time interval it generates a signal with a single logic level at the output, which sets a single logic level at its output at the S input of the RS flip-flop 10b. This level goes to the "R" inputs of the memory blocks 13a and 13b and sets the zero commands at their outputs "Z" and "Y".

Thus, in the absence of command messages, for example, at the time T (FIG. 2), the last coordinate values are stored in memory blocks 13a and 13b, respectively, at the heading “Z” and pitch “Y”. The storage time of these coordinates is determined by a pulse counter 14a, which counts the time from the moment the communication line is interrupted. When equality and exceeding the duration of the interruption of the communication line of a given time interval, counted by the pulse counter 14A, the coordinate values in the memory blocks 13A and 13b are set equal to zero. At the same time, at any moment of restoration of the communication line (at the moment of storing the last coordinate values or zeroing them) when decoding the input signal on the rocket, these decoded coordinates are recorded in the memory blocks 13a and 13b.

Therefore, in the method of guiding a teleorientable rocket along the beam due to the fact that the rocket sets the amount of time during which the last values of the coordinates along the course and pitch are memorized when the communication line is interrupted, the coordinates are reset to zero at a memorization time greater than the specified value, and the measured coordinate values when tele-sighting signals appear from the moment the communication line is restored, the accuracy of missile guidance is improved by eliminating the false control command that occurs when the line is interrupted communication.

An introduction to the missile television guidance system along the beam of the control unit of the memory time value, made in the form of an OR logic circuit, a pulse counter, an RS trigger and a synchronizer, in which the output of the OR circuit is connected to the zeroing pulse counter and the first RS- input a trigger, the second input of which is connected to the output of the pulse counter, the counting input of which is connected to the output of the synchronizer, the output of the RS-trigger connected to the inputs of zeroing the memory blocks of the channel channels and pitch, and the first and second inputs of the logical “OR” circuits are connected to the first outputs of the time-code converters according to the course and pitch, increased the accuracy of the missile guidance by eliminating the false control command that occurs when the communication line is interrupted.

Sourse of information

1. "Fundamentals of radio control", ed. Vejcela V.A. and Tipugina V.N., Moscow, Sovetskoe Radio, 1973, pp. 272, 276, 277; p. 247, fig. 4.28.

Claims (2)

1. The method of telecasting the rocket along the beam, which consists in introducing the rocket into the beam zone, measuring its coordinates on the rocket relative to the aiming point, and then generating control signals, characterized in that they additionally set the amount of time on the rocket during which the last the coordinate values at the heading and pitch when the communication line is interrupted, reset the coordinate values at a memorization time greater than a specified value, and set the measured coordinate values when tele-sighting signals from cient recovery link. 2. A beam guidance system for a missile containing a receiver and a channel separation unit in series with the heading and pitch, the outputs of which are channel-connected to one of two chains consisting of a time-code converter and a memory unit, respectively, in heading and pitch, in each the input record of the memory block is connected to the first output of the time-code converter, and the information input is connected to the second output of the time-code converter, while the control point is connected to the receiver input, characterized in that a control unit for the magnitude of the memory time, made in the form of an OR logic circuit, a pulse counter, an RS trigger and a synchronizer, while the output of an OR logic circuit is connected to the zeroing pulse counter and the first RS trigger input, the second input of which is connected to the output of the pulse counter, the counting input of which is connected to the output of the synchronizer, the output of the RS-flip-flop connected to the zeroing inputs of the memory blocks of the heading and pitch channels, and the first and second inputs of the OR circuit connected to the first outputs of the time-code developers according to the course and pitch.

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