RU2278388C1 - Device for determination of exterior ballistic parameters of projectile element with the aid of photorules and light screens - Google Patents

Abstract

FIELD: determination of exterior ballistic parameters (co-ordinates, velocity and attitude of projectile elements - bullets and shells at a direct fire at vertical obstacles (targets), applicable in experimental determination of the piercing capacity of bullets and shells and the armor quality in the process of their development or check-up at manufacture.

SUBSTANCE: the device has two parallel light screens for determination of the flight velocity and prediction of the nullification time of two pairs of photo rules and readout of information of the first pair of photo rules at the instant of intersection by the center of the projectile element of the light screens of this pair of photo rules and after the outcome of the projectile element from the light screens of the second pair of photo rules from these photo rules. The device provides for measurement of the time moments of entry of the projectile element to the light screens for measurement of the velocity and moments of outcome from them and computation of the time of intersection by the center of the projectile element of the light screens, the use of which at determination of the velocity and co-ordinates of flying-by precludes any errors because of nutation and precession. The co-ordinates of flying-by of the projectile element are determined with the aid of the protractor - base method according to the co-ordinates of the centers of shadows on the second pair of photo rules. The signs of the slopes are determined according the coincides of the co-ordinates of the shadow boundaries on the first and second pairs of the photo rules; the slopes of the axis of the projectile element and the angles of precession and nutation are determined according to the width of the full shadows on the second photo rules, signs of slope, co-ordinates of flying-be with the aid of shadow characteristics (dependences of the width of shadows on the slopes).

EFFECT: simultaneous automatic determination with a high precision of the exterior ballistic parameters of the projectile element: velocity, co-ordinates of flying-by and angles of nutation and precession.

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Description

The invention relates to the field of determining external ballistic parameters (coordinates, speed and angular position of propelling elements - bullets and shells) when firing direct fire at vertical barriers (targets) and can be used in the experimental determination of the penetration ability of bullets and shells and the quality of armor during their development or manufacturing control.

может быть заранее вычислена по чертежу или определена экспериментально по тени элемента на экран в плоскопараллельном потоке света.A known method and apparatus for determining the angles of nutation and precession, determining the angular position of the projectile element (bullet or projectile) by the nature of the holes in specially processed (calcined) screens of paper or cardboard [Ermolaev SI, Komarov LB, Churbanov E .AT. External ballistics. - L .: VMAKV im. A.M. Krylova, 1958. - 688 p.]. The hole has an oval (ellipsoidal) shape. The angle of inclination of the oval is the angle of precession ν. The nutation angle δ is functionally dependent on the ratio of the large diameter of the oval d ₁ to the small diameter of d ₂ . Dependence

can be pre-calculated according to the drawing or determined experimentally by the shadow of an element on the screen in a plane-parallel stream of light.

The disadvantages of the method are manual measurements, the time required to install and remove screens, the need to replace consumables after each shot, and the increased danger due to the need to exit to the fire corridor to remove and install screens. In addition, at nutation angles of up to about 5 degrees, the ratio of diameters is almost equal to unity and, therefore, the nutation angle of less than 5 degrees is not recorded.

A known method and apparatus for determining the angles of nutation and precession, determining the angular position of the propelling element by the slope of the projections on the vertical and horizontal planes [Verdin GD, Rodin A.A. Applied ballistics. Methods and means of ballistic measurements. M.: Mechanical Engineering, 1975 .-- 232 p. Barkan S.A. and other artillery ammunition tests. - M.: Military Publishing, 1958. - 630 p.]. The method is based on photographing a propelling element with two high-speed cameras from two mutually perpendicular directions. To obtain photographs of an element, the method of photographing with the exposure of photographic paper or film using two pulsed point sources of light is used.

The disadvantages of the method are the need to synchronize the flash point, the complexity of obtaining photographs, the consumption of materials and manual processing of photographs.

Known light target [RF Patent No. 2213320, class MKI F 41 J 5/02, bull. No. 27, 09/27/2003 / Aut. Afanasyeva N.Yu., Verkienko Yu.V., Kazakov V.S., Korobeinikov V.V. according to the application No. 2002116940/02 dated 06.24.2002.] with determining the speed by measuring the time interval between the successive intersection of the projectile element (bullet or projectile) of two parallel light screens (light planes) formed by extended linear light sources (radiation) located along one side of the sheaf of trajectories, and optoelectronic transducers optically associated with them, located on the other side of the sheaf of trajectories. The disadvantage is that the device does not allow to determine the angular position of the propelling element.

The closest analogue is a device for measuring the displacement, speed, acceleration and pace of an object [RF Patent No. 2223505, cl. G 01 P 3/68, Bull. No. 4 dated February 10, 2004 according to the application No. 2002116945 dated June 24, 2002], containing a light source, a flag associated with a moving object, a photo line (for example, a CCD - a linear device with charge coupling), an electronic unit and a computer that allow fixing with a high frequency the position of the shadow of the flag in the photo line when moving it. The disadvantage of this device is the inability to directly use it to determine the angular position of the propelling element and the determination of only one (on a straight line) coordinate, and not two coordinates (on a plane).

The objective of the invention is to eliminate manual processing, the exclusion of consumables, the exclusion of operators in the fire corridor before and after firing, ensuring the simultaneous determination of speed, coordinates of the span and angular position of the propelling element (nutation and precession angles) with each shot.

The problem is solved in that the device comprises a system of light screens. The first two light screens are parallel, formed by linear extended emitters and located on the other side of the sheaf of trajectories and optoelectronic converters optically coupled to the emitters. Two second light screens are parallel to the first two, located behind the first in the direction of fire in the same plane (aligned) and are formed by two mutually perpendicular emitters and located in one plane on the other side of the sheaf of paths and optically connected to the emitters by cameras with photo lines, two third light screens located behind the two second and formed by the same second emitters and cameras with photo lines mounted next to the cameras of the second two light screens in the direction of fire. The device provides a fixation of the time of entry of the throwing element into the first two light screens and the moments of exit from them, the calculation of the time of flight of the middle of the throwing element of the first two light screens, the flight speed and the forecast of the time of approach to the second combined light screens to zero the photo lines of all cameras, calculation time of flight by the middle of the throwing element of the second combined light screens and determination of the boundaries of the shadows on the first two photo lines, forecasting the time of departure of the meta element from two third light screens and determining the boundaries of the shadows on two second photo lines, determining the middle of the shadows on two second photo lines and the coordinates of the span using the goniometric method, determining the coincidence of the boundaries of the shadows on the first and second photo lines of the signs of the angles of the throwing element and determining the angles tilt, nutation and precession angles in terms of span coordinates, signs of tilt angles and shadow widths in the second photo lines using previously calculated or constructed experimentally shadow characteristics eristik corresponding to a throwing element.

EFFECT: exclusion of consumables (specially processed paper or cardboard, photographic film or photo paper and chemical reagents for developing and fixing); safety (operators do not go into the fire corridor); automation of measurements and processing of results; reduced time for preparing for tests and obtaining results; increasing the accuracy of determining external ballistic parameters (speed, flight coordinates and angles characterizing the angular position of the propelling element) and increasing the information content of tests by simultaneously determining all external ballistic parameters with a single shot.

Figure 1 shows a diagram of a device for determining external ballistic parameters of a propelling element using photo lines and light screens; figure 2 shows the angles that determine the angular position of the propelling element; figure 3 shows a diagram of an optoelectronic converter; figure 4 - light screens formed by emitters, optoelectronic converters and cameras with photo lines; figure 5 - angles that define the transition from the coordinate system of the propelling element to the coordinate system of the fire corridor and vice versa; in Fig.6 - the formation of a shadow with borders y ' ₁ , y' ₂ in the photo line along the shadow with borders y ₁ , y _{2 of the} throwing element; Fig.7 is a diagram for determining the coordinates (y, z) by the angularly-basic method using photolines.

The device comprises a power supply unit for emitters 1; linear extended emitters 2 _i , i = 1 ... 4; optoelectronic converters 3 ₁ , 3 ₂ , forming together with the emitters the first two parallel, perpendicular to the direction of fire light screens 4 ₁ , 4 ₂ ; cameras with photo lines 5 ₁ , 5 ₂ installed in one plane opposite to mutually perpendicular radiators 2 ₂ 2 ₄ installed in the same plane and forming two second combined light screens 6 ₁ , 6 ₂ with them; cameras with photo lines 7 ₁ , 7 ₂ installed next to cameras 5 ₁ , 5 ₂ in the direction of fire and forming with the emitters 2 ₃ , 2 ₄ two third light screens 8 ₁ , 8 ₂ located behind the second two in the direction of fire; coaxial communication lines 9; block matching and threshold devices 10 with matching amplifiers 11 ₂ , 11 ₂ and threshold devices (comparators) with direct inputs 12 ₁ , 12 ₂ and inverse inputs 13 ₁ , 13 ₂ ; scheme OR 14; A computer 15 with an information display device 16; multiplexer 17 with amplifiers-shapers 18 _i , i = 1 ... 4 (comparators for generating a binary code) and devices for storing binary codes 19 _i , and a control circuit 20. The output of the OR circuit 14 is connected to the input of the computer interrupt 15. The control circuit input 20 of the multiplexer 17 is connected to the output of the computer 15. The control outputs of the control circuit 20 of the multiplexer 17 are connected to the inputs of the photo lines 5 _i , 7 _i , the information output of the control circuit 20 of the multiplexer 17 is connected to the input of the computer 15, the outputs of the storage devices 19 _i are connected to the information inputs of the control circuit 20 multiplexer 17.

The receiver (optoelectronic converter) 3 _i (Fig. 3) has a rectangular slit aperture in front of the lens (lens) 21, in the focal plane of which (at a focal length ƒ or less than 0.5ƒ ') there is a sensitive area of the photodetector (photodiode) 22 the output of which is connected to the input of the amplifier of the photocurrent 23. The outputs of the amplifiers of the photocurrent by coaxial communication lines 9 are connected to the inputs of the matching devices 11.

The mathematical essence of the invention is as follows. Throwing element (for example, a bullet or projectile) is a body of revolution, which is associated with the coordinate system X ₂ Y ₂ Z ₂ , the X ₂ axis _of which coincides with the axis of rotation, the Y ₂ axis is perpendicular to the X ₂ axis and lies in a vertical plane passing through the X ₂ axis, and the Z ₂ axis forms the right triple with the X ₂ , Y ₂ axes (Figs. 2, 5). Define the profile of the throwing element in the X ₂ Y ₂ plane. It is given by the equation

where L is the length of the propelling element.

Then the equation of the surface of rotation is

A rectangular coordinate system XYZ is connected to the firing line (shooting range or range), the X axis of which is horizontal and directed in the direction of fire, the Y axis is vertical, and the Z axis forms the right three with them. The angular position of the throwing element (coordinate system X ₂ Y ₂ Z ₂ ) is characterized by the angles ψ, θ * or ψ *, θ shown in figure 2, 5. To go from the coordinate system of the shooting range XYZ to the coordinate system of the throwing element X ₂ Y ₂ Z ₂ you need to make a rotation through an angle ψ relative to the Y axis (we get the system X ₁ Y ₁ Z ₁ ), and then by an angle θ * relative to the Z ₁ axis (we get the system X ₂ Y ₂ Z ₂ ). In the case of determining the coordinates of the surface of revolution in the XYZ system, we make a rotation in the opposite direction, i.e. first by an angle -θ *, and then by an angle -ψ near the corresponding axes. As a result, we get

where M are the rotation matrix around the corresponding axis, and

where s ₂ = sinβ, c ₂ = cosβ, s ₃ = sinγ, c ₃ = cosγ.

y, z - координаты точки пролета в системе XYZ, начало которой выбрано в точке центрального проектирования объектива камеры фотолинейки (фиг.6). Тогда в системе координат X_CY_CZ_C имеемFrom the coordinate system of the shooting range XYZ, we pass to the coordinate system X _C Y _C Z _C connected with the coordinates of the point of passage through the photo screen by turning the angle α relative to the X axis, where

y, z - coordinates of the point of passage in the XYZ system, the beginning of which is selected at the point of central projection of the camera lens of the photo line (Fig.6). Then in the coordinate system X _C Y _C Z _C we have

where the rotation matrix around the X axis by the angle α is equal to

To find the shadow of a throwing element on a vertical photo line, we consider the second equation from (5)

and find the extreme points (shadow boundaries) in the plane X _C Y _C formed by the surface of revolution (2) in the x ₂ range according to (1). If an analytic expression of the function φ (x ₂ ) is given, then one can obtain an analytic expression of the boundaries y _C1 , y _C2 . If an analytical expression is not specified, then the boundaries can be determined experimentally from the shadow of the propelling element, tilted at angles ψ, θ in a stream of plane-parallel light rays at an angle α.

In particular, in the case of a thin throwing element (a thin rod of length L), we obtain

In the case of a blunt throwing element (cylinder of length L and diameter 2R), we obtain

The shadow characteristic (9) is close to the characteristic of a blunt bullet.

т.е. в случае Δα≈0 имеемAccording to the optical design of FIG. 6, in the case of a relatively small angular size of the propelling element

those. in the case Δα≈0 we have

where h ' _B is the length of the shadow in the vertical photo line.

In the case of a shadow on the horizontal ruler, in the shadow characteristic ƒ (ψ, θ, α), change the arguments y, z and θ, ψ in places and replace the angle α by β, i.e.

To determine the coordinates of the span of the throwing element (y, z), we use the goniometric-basic method. Find the middle of the shadow on the vertical and horizontal rulers

and according to Fig.7 we get

where D _y , D _z - the distance from the origin of the target to the centers of design of cameras with photo lines according to Fig.7.

The flight speed of the propelling element was previously determined by the time of flight of a fixed base. To increase accuracy, the time moments of the throwing element entry t _in1 , t _in2 in parallel light screens 4 ₁ , 4 ₂ and the exit times t _out1 , t _{out2 are measured} . After that, the moments of time t ₁ , t _{2 of the} intersection of the light screens by the middle of the throwing element are calculated

and speed

where S is the distance between parallel light screens 4 ₁ , 4 ₂ .

To determine the inclination angles of the throwing element, the system of equations (10), (11) is solved with respect to θ, ψ for the measured shadow lengths h _g , h _in , certain signs of the inclination angles and the y, z flight coordinates calculated from (13), (14). Then, the angles of nutation δ and precession ν are calculated according to FIG. 2, from which

Thus, the method and device provide the determination of external ballistic parameters: speed, span coordinates and angles that determine the angular position of the axis of the propelling element (θ, ψ or nutation angles δ and precession ν).

The device operates as follows.

соответствующие прохождению через экраны середины метательного элемента, вычисляется скорость полета

(S расстояние между световыми экранами 1₁, 1₂), вычисляется время подлета метательного элемента к световым экранам 6₁, 6₂, равное

(S₁ - расстояние между экраном 4₂ и совмещенными экранами 6₁, 6₂, L - длина метательного элемента), вычисляется время прохождения серединой метательного элемента совмещенных световых экранов 6₁, 6₂,

вычисляется время (с гарантией) вылета метательного элемента из световых экранов 8₁, 8₂, равное

где S₂ - расстояние между экраном 4₂ и камерами 7₁, 7₂. В момент времени t_n по сигналу управления с выхода ЭВМ 15, поступающему на вход схемы управления 20 мультиплексора 17, с управляющих выходов схемы 20 поступают серии сдвигающих импульсов на входы всех фотолинеек 5_i и 7_i. Число сдвигающих импульсов равно количеству ячеек фотолинеек. В результате информация с фотолинеек выталкивается без запоминания, ячейки таким образом обнуляются, и начинается процесс накопления информации. В момент времени t_c аналогично по управляющему сигналу с выхода ЭВМ 15 от схемы управления 20 мультиплексора 17 серии сдвигающих импульсов поступают на входы фотолинеек 5₁, 5₃. Бинарные коды с выходов компараторов 18₁, 18₃ запоминаются в устройстве 19₁, 19₃. В момент времени t_в аналогично по управляющему сигналу с выхода ЭВМ 15 в мультиплексоре 17 формируются серии сдвигающих импульсов, поступающих на входы фотолинеек 7₁, 7₂. Аналогичным образом в устройствах запоминания 19₂, 19₄ запоминаются бинарные коды состояния фотолинеек 7₁, 7₂. После запоминания коды всех устройств запоминания 19_i с информационного выхода мультиплексора 17 поступают на информационный вход ЭВМ 15. В ЭВМ производится анализ кодов, и по переходам из 0 в 1 и наоборот из 1 в 0 определяются границы теней на фотолинейках и их координаты, соответствующие номерам ячеек перехода кодов из 0 в 1 и наоборот. Затем осуществляется сравнение верхних (левых) и нижних (правых) границ теней линеек 5₁ и 7₁, линеек 5₂ и 7₂. Совпадающие границы определяют знаки углов наклона метательного элемента. После определения знаков углов наклона используются координаты границ теней только на фотолинейках 7₁, 7₂, на которых были сформированы "полные" тени. Теперь по (13), (14) в ЭВМ вычисляются координаты пролета метательного элемента (y, z). После этого для определения углов наклона решается система уравнений (10), (11) и, наконец, вычисляются углы нутации δ и прецессии ν по формулам (17)-(19). В завершение результаты выводятся на устройство отображения 16.During flight, the throwing element sequentially intersects the light screens 4 ₁ , 4 ₂ formed by linear extended emitters 2 ₁ , 2 ₂ and optically-connected optoelectronic converters 3 ₁ , 3 ₂ , light screens 6 ₁ , 6 ₂ formed by emitters 2 ₃ , 2 ₄ and optically connected cameras with photo lines 5 ₁ , 5 ₂ , light screens 8 ₁ , 8 ₂ formed by emitters 2 ₃ , 2 ₄ and optically connected cameras with photo lines 7 ₁ , 7 ₂ . When the first light shields 2 ₁ , 2 ₂ intersect, part of the light flux incident from the emitters to the photodetectors of the optoelectronic converters is shaded and electrical impulses are formed at the outputs of the photocurrent amplifiers, the leading edges of which correspond to the moments when the propelling element enters the light screens, and the trailing edges moments of the exit of the throwing element from the light screens. These signals are transmitted through coaxial communication lines 9 to the inputs of the amplifiers-shapers 11 ₁ , 11 _{2 of the} block of forming and threshold devices 10, and from the outputs of the amplifiers-shapers 11 ₁ , 11 ₂ to the inputs of the threshold devices (comparators) with direct inputs 12 ₁ , 12 ₂ and with inverse inputs 13 ₁ , 13 ₂ . The electrical signals from the outputs of the comparators are combined according to the OR 14 scheme and from the output are fed to the interrupt input of the computer 15. The interrupt signals are used to record the status of the computer timer and time codes corresponding to the moments of the input of t _input , t _{input of the} throwing element into the light screens and the output of the output t output ₁ , t _output2 of them, and are recorded in the computer memory. After writing the last code, the average values are calculated

corresponding to the passage through the screens of the middle of the propelling element, the flight speed is calculated

(S the distance between the light screens 1 ₁ , 1 ₂ ), the approach time of the throwing element to the light screens 6 ₁ , 6 _{2 is} calculated, equal to

(S ₁ is the distance between the screen 4 ₂ and the combined screens 6 ₁ , 6 ₂ , L is the length of the throwing element), the transit time of the middle of the throwing element of the combined light screens 6 ₁ , 6 _{2 is} calculated

the time (with guarantee) of the departure of the propelling element from the light screens 8 ₁ , 8 _{2 is} calculated, equal to

where S ₂ is the distance between the screen 4 ₂ and cameras 7 ₁ , 7 ₂ . At time t _n, according to the control signal from the output of the computer 15, which is input to the control circuit 20 of the multiplexer 17, a series of shift pulses are sent to the inputs of all the photo lines 5 _i and 7 _i from the control outputs of the circuit 20. The number of shear pulses is equal to the number of cells of the photo lines. As a result, information from the photo lines is pushed out without storing, the cells are thus reset to zero, and the process of accumulating information begins. At time t _c, similarly to the control signal from the output of the computer 15 from the control circuit 20 of the multiplexer 17, a series of shear pulses arrive at the inputs of the photo lines 5 ₁ , 5 ₃ . Binary codes from the outputs of the comparators 18 ₁ , 18 _{3 are} stored in the device 19 ₁ , 19 ₃ . At time t, _{in a} similar manner to the control signal from the output of the computer 15 in the multiplexer 17, a series of shear pulses are generated, which arrive at the inputs of the photo lines 7 ₁ , 7 ₂ . Similarly, in the memory devices 19 ₂ , 19 _{4, the} binary status codes of the photo lines 7 ₁ , 7 _{2 are} stored. After storing, the codes of all storage devices 19 _i from the information output of the multiplexer 17 go to the information input of the computer 15. The computer analyzes the codes, and the transitions from 0 to 1 and vice versa from 1 to 0 determine the boundaries of the shadows on the photo lines and their coordinates corresponding to the numbers code transition cells from 0 to 1 and vice versa. Then, the upper (left) and lower (right) borders of the shadows of the lines 5 ₁ and 7 ₁ , the lines 5 ₂ and 7 ₂ are compared. Matching boundaries define the signs of the angles of inclination of the propelling element. After determining the signs of the tilt angles, the coordinates of the shadow boundaries are used only on the photo lines 7 ₁ , 7 ₂ , on which "full" shadows were formed. Now, according to (13), (14), the coordinates of the missile element span (y, z) are calculated in a computer. After that, to determine the tilt angles, the system of equations (10), (11) is solved and, finally, the nutation angles δ and precession ν are calculated using formulas (17) - (19). Finally, the results are displayed on the display device 16.

Claims (1)

A device for determining the angular position of a throwing element, containing light screens, linear emitters and optically-connected optoelectronic converters and cameras with photo lines located on the other side of the path sheaf, emitter power supply unit, coaxial communication lines, matching and threshold devices of light screens, circuit OR, signal line amplifiers-photolines, computers and an information display device, characterized in that there are two light screens with optoelectronic converters They are perpendicular to the direction of fire, two cameras with photo lines are installed in the same plane with two mutually perpendicular emitters located on the other side of the sheaf of trajectories, two cameras with photo lines are located next to the first with a shift in the direction of fire and are optically connected to mutually perpendicular emitters, the outputs are matching devices are additionally connected to the inputs of threshold devices with inverse inputs, the outputs of which are connected to the inputs of the OR circuit, the outputs of the amplifiers form leu fotolineek signals connected to the inputs of memory devices, control outputs connected to the multiplexer control inputs fotolineek, multiplexer data outputs are connected to the input of the computer, and the multiplexer control input connected to the output computer.

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