RU2303229C1 - Method for formation of stabilization and homing signal of movable carrier and on-board homing system for its realization - Google Patents

Abstract

FIELD: homing systems of movable carriers.

SUBSTANCE: signals are formed that are proportional to the projections of the vector of the phantom linear acceleration and the projections of the vector of the absolute turning speed of the vector (line) of target sighting to the respective co-ordinate axes of the base antenna co-ordinate system. with the aid of the obtained signals with regard to the original information of assignment of the target or/and object of sighting and initial conditions of alignment of the inertial measurement of the parameters of the sighting vector determined are the signals proportional to the current values of the target sighting vector, i.e. the projections of the vector of the absolute linear speed of closure of the movable carrier with the target to the respective co-ordinate axes of the base antenna co-ordinate system, slant range of closure of the movable carrier to the target, components of the space angular target co-ordinate in the base antenna co-ordinate system, guide cosines of the mutual attitude of the base antenna co-ordinate system and the reference geocentric co-ordinate system linked by its, co-ordinate axis to the stationary target of/and to the sighting object located, for example, on the earth surface. At an absence of the location contact with the target or/and with the sighting object the obtained signals are converted to the stabilization signals of the movable carrier from its oscillations relative to its center of masses in the horizontal plane, in the vertical plane and in rolling, as well as to the homing signals of the movable carrier to the target proportional to the g-loads. At a search of the sighting object and at its tracking signals are formed in the main or built-in short-wave wave radiation chamber that are proportional to the components of the space angular co-ordinate of the sighting object and the slant range to the sighting object in the antenna co-ordinate system. An this case signals are determined that are proportional to the parameters of the trajectory fluctuations and the deforming actions of the movable carrier body an the spatial attitude of the antenna phase center relative to the target or/and the sighting object. With the use of these signals a signal is formed that is proportional to the phase of the reference function being the function of the module of the target sighting or/and object sighting vector in the shifted co-ordinate system, i.e. the slant range to the target or/and sighting object. An this case the position of the shifted co-ordinate system is determined by the shift vector of the antenna phase center or/and of the center of radiation of antenna sounding signals relative to the center of intersection of the axes of sensitivity of measurement of the projections of the phantom linear acceleration and the projections of the vector of the absolute angular turning speed of the target (line) sighting and/or sighting object vector in the process of the inertia measurement of the parameters of the target sighting vector, and/or sighting object vector. With the use of the obtained signal that is proportional to the phase of the reference function the signal is determined that is proportional to the phase correction compensating in the received signals reflected from the radiated sighting object for the trajectory instability of the antenna phase center and the deforming actions of the movable carrier body. At an automatic tracking of the sighting object in the direction and range compared are the formed signals proportional to the current parameters of the target sighting vector in the base antenna co-ordinate system in accordance with the identical signals of automatic tracking of the sighting object in the direction and in the range in thus co-ordinate system. Then, accomplished is the optimal adaptive jamproof filtration of the respective comparison signals, and signals proportional to the precise estimations of the respective comparison signals are formed. The signals proportional to the precise estimation are used for correction of the signals proportional to the respective current values of the target sighting vector parameters. These signals are used for turning the vector of sighting in the tilt angle and azimuth relative to movable carrier body up to its matching with the direction to the sighting object, and at an automatic tracking of the sighting object signals are formed that are proportional to the slant range and the rate of closure of the movable carrier to the sighting object. Besides, simultaneously formed are signals that are proportional to the rate of change respectively of the sighting angles of the sighting object in the horizontal and vertical planes in the horizontal co-ordinate system. With the use of the obtained data formed are the signals of stabilization of the movable carrier against its oscillations relative to the center of masses in the horizontal plane, vertical plane and rolling, as well as the homing signals of the movable carrier proportional to the g-loads respectively in the horizontal and vertical planes.

EFFECT: enhanced accuracy, linear and angular resolving power, homing noise immunity, at the same time enhanced antijam capability and dynamic accuracy of tracking of the sighting object in direction and range.

2 cl, 6 dwg

Description

The proposed technical solution relates to the field of homing systems for self-propelled objects.

It is intended for:

- measurements of accelerations, speeds, distances, angular positions of the mobile carrier of the onboard homing system, horizontal and vertical angle of sight, azimuth and elevation (tilt) of the sighted objects;

- formation of stabilization and homing signals for controlling a mobile carrier

and can be used in systems:

- determination of the parameters of the relative position of the movable carrier and the object of sight (movable or stationary) when they approach each other;

- providing control of mobile carriers when homing at the object of sight, not only in the presence of their location contact, but also in its absence;

- with increased angular and linear resolution, accuracy, range, noise immunity and noise immunity;

- direction finding and auto tracking of sight objects (moving and / or motionless) in direction and range.

There are various methods of guiding missiles and guiding systems (patent RU No. 2239769 2002.11.27, class F41G 7/20; DE No. 19740888 A1 09.17.97, class F41G 7/00), which offer technical solutions for autonomous control in one in the case of a rotating artillery shell, and in another case, the formation of control signals during homing in the process of location contact with the aim of using information about the angular velocity of rotation of the line of sight.

Also known is a system for accurately determining the vertical velocity of a rocket and its position in space (US patent No. 6082666 A 03/12/97, class F41G 7/00) containing a radar, an inertial block, a Kalman filter and a feedback line. The system provides an estimate of errors in measuring the speed obtained from the inertial unit and the computational circuit.

In addition, there is known a method and device for guiding a rocket at a moving target (WO No. 9939150 A1 01/20/99, class F41G 7/20), in which the interception point where the missile is expected to meet the target is calculated based on predicting the future movement of the target and calculating the time of a missile meeting with a target

The above analogues have common drawbacks: they do not provide the necessary guidance accuracy, noise immunity, angular and linear resolution.

A known missile guidance control unit (JP patent No. 2848238 B2 7294196 A 04/27/94, class F41G 7/22), where the autopilot controls the missile at the initial guidance section, providing a predetermined flight path in accordance with the program when using output information from an inertial block. When reaching the range at which the target is captured, the head is switched on in the search mode using a block that creates a large control force for accelerating and braking the head. Head control when capturing a target is carried out in accordance with a predetermined target image.

Of the known analogues, the closest in technical essence and purpose is a method of generating signals for stabilization and homing of a mobile carrier, carried out using this missile guidance control unit.

The method and device according to JP patent No. 2848238, however, do not meet modern high requirements for the formation of stabilization signals and homing signals of high-precision mobile carriers and on-board homing systems designed to equip them, as they have the following main disadvantages:

- they do not provide the necessary accuracy of homing of the mobile carrier due to the lack of information in the system about the projections of the apparent linear acceleration vector and the projections of the absolute angular velocity of the line of rotation (vector) of the line of sight in the Oxyz antenna base coordinate system, especially with increased range of the mobile carrier (t .e. with increased operating time of the prototype device);

- insufficient angular and linear resolution, which should be comparable with the size of the detected (including small) OM and which are necessary to solve the problem of homing a mobile carrier on an OM with a small effective dispersion surface (EPR) and in the presence of hydrometeors on the carrier path ;

- the pumping angles of the outer and inner frames of the biaxial gimbal suspension are structurally limited for a given limited diameter of the device compartment due to variable electrical reduction between the rotation angles of the parabolic mirror relative to the radiation center of the stationary multichannel irradiator and the corresponding angles of rotation of the line of sight (vector), which, in turn, limits the range of the angle of inclination of the trajectory on an autonomous, for example, ballistic section of the path of the carrier, with izhaya its performance characteristics.

The purpose of the claimed technical solutions (method and device for its implementation) is to provide increased accuracy of homing of a mobile carrier, angular and linear resolution of homing while increasing noise immunity, as well as noise immunity under external disturbing influences in simple and difficult weather conditions in the presence of hydrometeors on the track carrier and increasing the range of the angle of inclination of the trajectory on an autonomous, for example, ballistic section of the trajectory of the carrier.

линейной скорости предстартового перемещения подвижного носителя на соответствующие координатные оси горизонтальной системы координат Оξηζ с началом в центре масс подвижного носителя, декартовых координат ξ⁰, η⁰, ζ⁰ цели или/и ОВ, географической долготы λ₀ и географической широты φ₀ подвижного носителя (фиг.1). На борту подвижного носителя преобразуют заданные начальные условия выставки инерциального измерения параметров вектора визирования цели или/и ОВ в сигналы, пропорциональные проекциям V_x0, V_y0, V_z0 вектора

линейной скорости предстартового перемещения подвижного носителя на соответствующие координатные оси базовой антенной системы координат Oxyz (фиг.2), в сигналы, пропорциональные углам

и

визирования цели или/и ОВ соответственно в горизонтальной плоскости и в вертикальной плоскости в горизонтальной системе координат Оξηζ (фиг.3), в сигналы, пропорциональные составляющим

и

пространственной угловой координаты

или/и ОВ в базовой антенной системе координат Oxyz (фиг.2), в сигналы, пропорциональные направляющим косинусам

где i, j = 1, 2, 3, определяющим начальное взаимное положение базовой антенной системы координат Oxyz и опорной геоцентрической системы координат Сξ₀η₀ζ₀, связанной одной своей координатной осью Сζ₀ с неподвижной целью или/и с ОВ, расположенной, например, на земной поверхности (фиг.1).The essence of the invention lies in the fact that, according to the proposed method, during the prelaunch preparation of a mobile carrier, in addition to setting the initial coordinates of the target and / or the initial destination of the OM, the initial conditions for the inertial measurement of the parameters of the target’s sighting vector are formed in the form of a packet of sequential information words (information array), additionally containing the initial values of the projections V _ξ0 , V _η0 , V _ζ0 , of the vector

the linear velocity of the prelaunch movement of the mobile carrier to the corresponding coordinate axes of the horizontal coordinate system Оξηζ with the origin at the center of mass of the mobile carrier, the Cartesian coordinates ξ ⁰ , η ⁰ , ζ ^{0 of the} target or / and OB, the geographical longitude λ ₀ and the geographical latitude φ _{0 of the} mobile carrier ( figure 1). On board the mobile carrier, the predetermined initial conditions for the inertial measurement of the parameters of the target vector of the target or / and OM are converted into signals proportional to the projections V _x0 , V _y0 , V _{z0 of the} vector

the linear velocity of the prelaunch movement of the moving medium to the corresponding coordinate axes of the base antenna coordinate system Oxyz (figure 2), in signals proportional to the angles

and

sighting the target and / or OM, respectively, in the horizontal plane and in the vertical plane in the horizontal coordinate system Оξηζ (Fig. 3), into signals proportional to the components

and

spatial angular coordinate

or / and OB in the base antenna coordinate system Oxyz (Fig. 2), into signals proportional to the direction cosines

where i, j = 1, 2, 3, which determines the initial relative position of the base antenna coordinate system Oxyz and the reference geocentric coordinate system Сξ ₀ η ₀ ζ ₀ , connected by one of its coordinate axis Сζ ₀ with a fixed target and / or with an OB located for example, on the earth's surface (figure 1).

кажущегося линейного ускорения движения и проекциям ω_зх, ω_зy, ω_зz вектора

абсолютной угловой скорости поворота зеркала антенны на соответствующие координатные оси системы координат Ох_зy_зz_з, связанной с зеркалом антенны, где Ох_з - оптическая ось зеркала. По этим измеренным сигналам с учетом переменной электрической редукции определяют сигналы, пропорциональные проекциям n_x, n_y, n_z вектора

кажущегося линейного ускорения движения и проекциям ω_x, ω_y, ω_z вектора

абсолютной угловой скорости поворота вектора (линии) визирования цели на соответствующие координатные оси базовой антенной системы координат Oxyz. По полученным сигналам с учетом начальной информации назначения цели или/и ОВ и начальных условий выставки инерциального измерения параметров вектора визирования формируют сигналы, пропорциональные текущим значениям параметров вектора

визирования цели, а именно: проекций V_x, V_y, V_z вектора

абсолютной линейной скорости сближения подвижного носителя с целью на соответствующие координатные оси базовой антенной системы координат Oxyz, наклонной дальности L сближения подвижного носителя с целью, составляющих e₁ и е₂ пространственной угловой координаты

цели в базовой антенной системе координат Oxyz (фиг.2), направляющих косинусов β_ij, где i, j = 1, 2, 3, взаимного углового положения базовой антенной системы координат Oxyz и опорной геоцентрической системы координат Сξ₀η₀ζ₀, связанной одной своей координатной осью Сζ₀ с неподвижной целью или/и с ОВ, расположенной, например, на земной поверхности (фиг.1). При отсутствии локационного контакта с целью или/и с ОВ преобразуют полученные сигналы, пропорциональные соответствующим текущим значениям параметров вектора визирования цели, в управляющие сигналы, по которым осуществляют поворот зеркала антенны по углу наклона

и по азимуту

, которые регистрируют и затем с учетом переменной электрической редукции преобразуют в сигналы, пропорциональные углам поворота вектора (линии) визирования по углу наклона и по азимуту относительно корпуса подвижного носителя до совмещения его направления с направлением на цель, и совмещают метку (подвижный строб) дальности с целью. При этом формируют сигналы, пропорциональные скорости изменения углов визирования цели в горизонтальной

и в вертикальной

плоскости в системе координат Оξηζ (фиг.3), а также сигналы, пропорциональные скорости изменения угла наклона

и азимута

(скорости изменения пеленгов цели) в связанной системе координат Ox₁y₁z₁ (фиг.4). Одновременно преобразуют сигналы, пропорциональные проекциям ω_x, ω_y, ω_z вектора

абсолютной угловой скорости поворота базовой антенной системы координат Oxyz, в сигналы, пропорциональные его проекциям

на соответствующие координатные оси связанной системы координат Ox₁y₁z₁. По полученным сигналам определяют сигналы, пропорциональные скорости изменения соответственно рыскания

, тангажа

, крена

подвижного носителя, по которым формируют сигналы, пропорциональные соответственно рысканию ψ, тангажу ϑ, крену γ с учетом их начальных значений, полученных при предстартовой подготовке подвижного носителя. При этом определяют сигналы, пропорциональные проекциям

вектора

углового ускорения подвижного носителя на соответствующие координатные оси связанной системы координат Ox₁y₁z₁. Наконец, по полученным сигналам формируют сигналы стабилизации подвижного носителя от его колебаний относительно своего центра масс в горизонтальной плоскости δ^г, в вертикальной плоскости δ^в и по крену δ^к, а также сигналы самонаведения подвижного носителя на цель, пропорциональные перегрузкам n^в и n^г, которые являются функциями, например, текущих значений сформированных углов положения подвижного носителя в вертикальной плоскости и в горизонтальной плоскости, функциями текущих значений модуля

наклонной скорости сближения подвижного носителя с целью и составляющих и

вектора

угловой скорости поворота вектора (линии) визирования цели соответственно в вертикальной и в горизонтальной плоскости в системе координат Сξηζ. Полученную информацию преобразуют в управляющие сигналы, которые поступают в виде информационного массива стабилизации и управления по информационной линии связи во внешнюю аппаратуру управления рулевым приводом подвижного носителя.At the time of the start of the mobile carrier, the update of the initial information is stopped; signals proportional to the projections n _sx , n _sy , n _{sz of the} vector

apparent linear acceleration of motion and projections ω _zx , ω _zy , ω _{zz of the} vector

the absolute angular velocity of rotation of the antenna mirror to the corresponding coordinate axes of the coordinate system Oh _z y _z z _z associated with the antenna mirror, where Oh _z is the optical axis of the mirror. From these measured signals, taking into account the variable electric reduction, signals proportional to the projections n _x , n _y , n _{z of the} vector are determined

apparent linear acceleration of motion and projections ω _x , ω _y , ω _{z of the} vector

absolute angular velocity of rotation of the target vector (line) of sight on the corresponding coordinate axes of the base antenna coordinate system Oxyz. Based on the received signals, taking into account the initial information on the purpose of the target or / and the target and the initial conditions of the inertial measurement of the parameters of the vector of sight, signals are generated that are proportional to the current values of the vector

sight of the target, namely: projections V _x , V _y , V _{z of the} vector

the absolute linear approach speed of the moving carrier with the target on the corresponding coordinate axes of the base antenna coordinate system Oxyz, the inclined range L of the approach of the moving carrier with a target of components e ₁ and e _{2 of the} spatial angular coordinate

targets in the base antenna coordinate system Oxyz (figure 2), the guiding cosines β _ij , where i, j = 1, 2, 3, of the relative angular position of the base antenna coordinate system Oxyz and the reference geocentric coordinate system Сξ ₀ η ₀ ζ ₀ , associated one of its coordinate axis Cζ ₀ with a fixed target and / or with OB located, for example, on the earth's surface (figure 1). In the absence of location contact with the target and / or with the optical signal, the received signals are proportional to the corresponding current values of the target vector of the target, into control signals that rotate the antenna mirror along the tilt angle

and in azimuth

which are recorded and then, taking into account the variable electric reduction, are converted into signals proportional to the angles of rotation of the vector (line) of sight along the angle of inclination and in azimuth relative to the body of the moving medium until its direction coincides with the direction to the target, and the mark (moving gate) of distance is combined with purpose. In this case, signals are generated proportional to the rate of change of the target’s viewing angles in horizontal

and in vertical

the plane in the coordinate system Оξηζ (Fig. 3), as well as signals proportional to the rate of change of the angle of inclination

and azimuth

(rate of change of bearings of the target) in the associated coordinate system Ox ₁ y ₁ z ₁ (figure 4). At the same time, signals are proportional to the projections ω _x , ω _y , ω _{z of the} vector

absolute angular velocity of rotation of the base antenna coordinate system Oxyz, into signals proportional to its projections

to the corresponding coordinate axes of the associated coordinate system Ox ₁ y ₁ z ₁ . The signals obtained are used to determine signals proportional to the rate of change, respectively, of the yaw rate.

pitch

roll

mobile carrier, which generate signals proportional to yaw ψ, pitch ϑ, roll γ, respectively, taking into account their initial values obtained during prelaunch preparation of the mobile carrier. In this case, signals proportional to the projections are determined

of vector

angular acceleration of the moving carrier to the corresponding coordinate axes of the associated coordinate system Ox ₁ y ₁ z ₁ . Finally, the received signals form the signals of stabilization of the mobile carrier from its oscillations relative to its center of mass in the horizontal plane δ ^g , in the vertical plane δ ^c and roll δ ^k , as well as homing signals of the mobile carrier to the target, proportional to the overloads n ⁱⁿ and n ^g , which are functions, for example, of the current values of the formed angles of the position of the moving medium in the vertical plane and in the horizontal plane, functions of the current values of the module

the inclined approach speed of the moving carrier with the purpose and components and

of vector

the angular velocity of rotation of the target vector (line) of sight of the target, respectively, in the vertical and horizontal plane in the coordinate system Сξηζ. The obtained information is converted into control signals, which are received in the form of an information array of stabilization and control via an information line of communication to external equipment for controlling the steering drive of a mobile carrier.

и по азимуту

относительно корпуса подвижного носителя, регистрируют их и затем с учетом переменной электрической редукции преобразуют их соответственно в углы отклонения линии (вектора) визирования по углу наклона и по азимуту относительно корпуса подвижного носителя до совмещения ее (его) с направлением на ОВ, а при автосопровождении по дальности отфильтрованный сигнал рассогласования (ошибки) интегрируют во времени и получат информацию о наклонной дальности и скорости сближения подвижного носителя с ОВ. Одновременно формируют сигналы, пропорциональные скорости изменения соответственно углов визирования ОВ в горизонтальной

и в вертикальной

плоскости в системе координат Оξηζ, сигналы стабилизации подвижного носителя от колебаний относительно своего центра масс в горизонтальной δ^г, вертикальной δ^в плоскости и по крену δ^к, сигналы самонаведения подвижного носителя на ОВ, пропорциональные перегрузкам соответственно в горизонтальной n^г и в вертикальной n^в плоскости, которые являются, например, функциями текущих значений модуля скорости

изменения наклонной дальности L сближения подвижного носителя с ОВ и скорости изменения углов визирования ОВ соответственно в горизонтальной

и в вертикальной

плоскости, преобразуют полученные сигналы в сигналы управления рулевым приводом подвижного носителя, обеспечивая стабилизацию и самонаведение подвижного носителя на ОВ согласно принимаемому закону самонаведения.Upon reaching the value of the oblique range of proximity of the moving carrier with a target equal to the value of the oblique range of possible location contact with the OB, sequentially probing signals are emitted first of the main wavelength range and then the built-in shorter wavelength range of waves according to the adopted OB search logic. Moreover, the frequency of the shorter wavelength range of the wave exceeds an even number of times the frequency of the main wavelength range, the linear polarization of the main wavelength range is orthogonal to the linear polarization of the main wavelength range, and the sight lines of the integrated and main radiation channels are combined with each other and with the initial alignment of both radiation channels with the construction axes of the movable carrier, moreover, control of the direction of the combined line of sight is fulfilled by the same mirror drive of the base antenna ny range of waves. Then carry out a sector-specific search for OBs in the direction and search for OBs in range. Signals are received that are reflected from the irradiated SAR, which are located within the Sector's search sector in the direction and in the SAR range search range, and based on the main or built-in shorter wavelength range, the detection, selection, and capture of the SAR selected from all the SARs found in the search sector according to the accepted criteria of the choice, for auto-tracking in range and direction, combine information obtained as a result of primary processing of the received high-frequency signals received reflected from the irradiated OB in the main or in-line to the given wave range, the received signals are subjected to secondary (low-frequency) processing. As a result of this, signals are generated along the main or built-in radiation channel, which are proportional to the components of the spatial angular coordinate of the OB and the slant range to the OB in the Oxyz antenna coordinate system. In this case, according to signals proportional to the measured projections of the apparent linear acceleration vector and the projections of the absolute angular velocity vector of the target vector (line) of rotation of the target (s) or / and OB on the corresponding coordinate axes of the base antenna of the coordinate system Ox ₀ y ₀ z ₀ stopped at the start time search for organic matter (or during a given measurement interval), taking into account the linear displacement of the phase center of the antenna (or / and the center of radiation of the probing signals) relative to the center of intersection of the sensitivity axes The projections of the vector of the apparent linear acceleration vector and the projections of the vector of the absolute angular velocity of the rotation of the target (or line of sight) vector and / or OM determine signals proportional to the parameters of the trajectory fluctuations and the deforming (elastic, vibrational, etc.) effects of the mobile carrier body on the spatial position of the phase the center of the antenna relative to the target and / or OB. Moreover, they measure signals proportional to the parameters of the movement of the antenna aperture relative to the observed (sighted) object, i.e. targets and / or OF, which are the parameters of the trajectory signal, in the coordinate system Ox _cm y _cm z _cm, offset from the fixed base antenna of the coordinate system by a certain distance, i.e. relative to the phase center of the antenna. These signals generate a signal proportional to the phase of the support function, which is a function of the module of the target vector of sight or / and OM in the displaced coordinate system Ox _cm y _cm z _cm, i.e. the inclined range to the target and / or the OB, at the time of the beginning of the search for the OB (or a given measurement interval), as well as the rate of its change and acceleration during the search for the OB (or during a given measurement time interval). Then, according to the received signal proportional to the phase of the support function, a signal proportional to the phase correction is determined, which compensates for the received path signals reflected from the irradiated optical path, the path instability of the antenna phase center and the deforming (elastic, vibrational, etc.) effects of the moving carrier body moving along the trajectory. During OB auto-tracking in direction and range, the generated signals are proportional to the current values of the target vector of the target in the Oxyz base antenna coordinate system, namely: components of the spatial angular coordinate of the target and the oblique approach distance of the moving carrier with the target, respectively, with identical OB auto-tracking signals in direction and range, proportional to the current values of the parameters of the OB vector of sight in the base antenna coordinate system Oxyz, optimally adaptive noise-tolerant filtering of the corresponding comparison signals, generating signals proportional to the exact estimates of the corresponding comparison signals obtained as a result of optimal adaptive filtering, with the help of which they compensate (correct) the signals proportional to the current values of the target vector of sighting. After that, according to the signals obtained as a result of compensation (correction), control signals are generated by which the antenna mirror is rotated along the tilt angle

and in azimuth

relative to the housing of the mobile carrier, register them and then, taking into account the variable electric reduction, convert them, respectively, into the angles of deviation of the line (vector) of sight along the angle of inclination and in azimuth relative to the housing of the mobile carrier to combine it (it) with a direction to the OB, and when auto tracking range, the filtered error signal (errors) is integrated over time and information on the slant range and the speed of approach of the moving carrier with the OB is obtained. At the same time, they generate signals proportional to the rate of change, respectively, of the angles of sight of the OM in

and in vertical

plane in the system Oξηζ coordinate signals stabilize the movable carrier of oscillations about its center of mass in a horizontal δ ^g, vertical δ ^plane and the roll δ ^k, signals movable carrier homing to OB proportional to accelerations respectively in the horizontal n ^g and a vertical n ⁱⁿ planes that are, for example, functions of the current values of the velocity module

changes in the inclined range L of the approach of the mobile carrier with the OB and the rate of change of the angles of sight of the OB, respectively, in the horizontal

and in vertical

plane, convert the received signals into control signals of the steering drive of the mobile carrier, providing stabilization and homing of the mobile carrier on the OB in accordance with the adopted law of homing.

The essence of the invention also lies in the fact that the on-board homing system of a movable carrier implementing the method includes a parabolic mirror, a multi-channel irradiator with linear polarization of the main wavelength range, a biaxial cardan suspension, a controlled sensitive and actuating element of a tracking gyro drive, an angle sensor for the rotation of the outer frame and a sensor angle of rotation of the inner frame of the biaxial cardan suspension, three one-component linear acceleration meters, control device gyro-stabilization of the line of sight, a sum-difference converter (SRP) of microwave signals and a waveguide-switching device (VKU) of the main wave range, a two-channel gyroscopic angular velocity sensor (DLS) installed in the inner frame of the biaxial cardan suspension so that in a caged position, one of its sensitivity axes coincides with the zero direction of the vector (line) of sight, and its other sensitivity axis is oriented, for example, upward along the positive the direction of the rotation axis of the inner frame, and the kinetic moment of the rotor of the gyroscopic TLS coincides with the positive direction of the rotation axis of the outer frame, all three one-component linear acceleration meters are installed in the inner frame of the biaxial cardan suspension, and the sensitivity axis of one of them is mutually orthogonal with respect to mutually orthogonal axes sensitivity of two other one-component linear acceleration meters, while the sensitivity axis of one of the three one-component of eriteley linear acceleration zaarretirovannom position coincides with the zero direction of the line of sight. The distance between each of the hinges of rigid rods placed on a parabolic mirror and the center of rotation of the parabolic mirror is equal to the distance between each of the hinges mounted on the outer frame and on the inner frame of the biaxial cardan suspension, and the center of rotation of these frames. In addition, the system contains a radio navigation receiver, digital computing device (CVC), as well as a small hyperbolic trellis mirror with a diameter several times smaller (for example, four times) compared with the main parabolic mirror. A small hyperbolic lattice mirror is rigidly connected with the help of stationary waveguides to the base of the antenna device and, therefore, to the housing of the movable carrier. One of the foci of a small hyperbolic lattice mirror, which is distant with respect to the main parabolic mirror, coincides with the focus of the parabolic mirror, and the other focus of the small hyperbolic lattice mirror, which is proximal to the main parabolic mirror, contains the antenna phase center (or / and radiation center of a stationary multichannel direct-irradiator) of the main wavelength range with linear polarization coinciding with the direction of the conductors of the small hyper array bolic mirror. In the far focus of a small hyperbolic lattice mirror, the antenna phase center (or / and the radiation center of a multi-channel direct irradiator) of a shorter wavelength range with linear polarization orthogonal to the direction of the conductors of the lattice of a small hyperbolic mirror is located. In this case, the multichannel direct-irradiator of the shorter wavelength range is rigidly connected to the base of the antenna device and, therefore, to the housing of the mobile carrier using stationary waveguides connected to the additionally introduced PSA of the microwave signals of the shorter wavelength range. The PSA is connected to the additionally introduced VCS of the shorter wavelength range of the waves, controlled by the scanning signals. The transceiver is made dual-band for the main and shorter wavelengths. The corresponding inputs of the transceiver using waveguides are connected to the VCU outputs of the shorter wavelength range, which is also connected by its inputs with the help of waveguides to the additionally introduced PSA of microwave signals of the shorter wavelength range. The outputs of three one-component linear acceleration meters, the outputs of the angle sensors respectively of the outer and inner frames of the biaxial cardan suspension, the outputs of the two-channel gyroscopic TLS, the outputs of the direction control device and gyro stabilization of the line (vector) of sight, as well as the video signal output of the dual-band transmitter are connected to the corresponding inputs of the CVU , and the outputs of the error signals (errors) of the automatic tracking devices in the angle of inclination and in the azimuth of the CVC are connected to the corresponding their inputs direction control device and gyrostabilization line (vector) of sight. The TsVU information input is connected by a communication information line to a radio navigation receiver of signals from a satellite navigation system. At the same time, an information array of correction signals of inertial measurement of the parameters of the target sighting vector is sent to the CVU via this information communication line. Another information input of the TsVU is connected by an information communication line with external equipment for preparing and controlling the launch of a mobile carrier of the claimed onboard homing system. At the same time, an array of pre-launch initial purpose of the OB and the initial exhibition of inertial measurement of the parameters of the vector of sight are received through the information communication line to the TsVU. An information array of commands and control signals for the high-frequency part of the proposed on-board homing system is issued through one of the information outputs of the CVU via the corresponding communication line, and another information output of the CVU is connected by the communication line with the external equipment for controlling the steering drive of the mobile carrier.

The introduction of these features in the method and device for its implementation improves the accuracy of homing of the movable carrier on the object of sight, the angular and linear resolution of the inventive on-board homing system of the movable carrier, especially when pointing the movable carrier on small sized objects of sight having a small effective scattering surface, and in the presence of hydrometeors on the carrier movement path, as well as the noise immunity of the system and the noise immunity of the homing rolling for organic matter under conditions of external disturbing influences and increases the range of the angle of inclination of the trajectory on an autonomous, for example, ballistic section of the path of the carrier.

The use of inertial measurement of the parameters of the vector of sight in the proposed on-board homing system of the mobile carrier and the dual-range of its antenna-waveguide and transceiver module with a block of inertial channel meters together with the CVU in its composition provides the required increased accuracy of homing, increased range of the mobile carrier and the noise immunity of the system in conditions of interfering effects. The system provides autonomous homing on the target and / or air defense.

From the prior art, no solutions have been identified that have features that match the distinguishing features of the proposed method and device for its implementation, therefore, we can assume that the proposed technical solutions meet the conditions of the inventive step.

The invention is illustrated by drawings, where figure 1 shows the adopted coordinate system, figure 2 - the position of the vector L of sight OB (target) in the base antenna coordinate system Oxyz, figure 3 - the relative position of the base antenna coordinate system Oxyz and the horizontal system coordinate Oξηζ, Fig. 4 shows the mutual position of the base antenna coordinate system Oxyz and the associated coordinate system Ox ₁ y ₁ z ₁ , Fig. 5 shows the mutual position of the coordinate system Ox ₁ y ₁ z ₁ and the horizontal coordinate system Oξηζ, Fig. 6 is a structural diagram of the proposed boards oh homing system of a mobile carrier.

т.е. за период 4·Т_п формируют сигналы

которые детектируют, и затем формируют сигналы, пропорциональные соответственно сигналам рассогласования (ошибкам) автосопровождения по углу наклона (места) и по азимуту, которые являются составляющими пространственной угловой координаты облучаемого ОВ в антенной системе координат. Кроме того, вырабатывают управляющие сигналы, пропорциональные соответственно составляющим вектора угловой скорости поворота линии визирования в направлении ОВ соответственно в вертикальной и в горизонтальной плоскости в горизонтальной системе координат, которые интегрируют, и совмещают линию визирования с ОВ, при этом регистрируют сигналы, пропорциональные отклонениям линии визирования ОВ по углу наклона и по азимуту относительно корпуса подвижного носителя, осуществляют автосопровождение ОВ по направлению. По полученным сигналам, пропорциональным составляющим вектора угловой скорости поворота линии визирования в направлении ОВ в вертикальной и горизонтальной плоскости, сигналам, пропорциональным отклонениям линии визирования ОВ по углу наклона и по азимуту относительно корпуса подвижного носителя, сигналам, пропорциональным текущим значениям дальности сближения подвижного носителя с ОВ и скорости ее изменения, а также сигналам, пропорциональным начальным значениям рысканья (курса), тангажа и крена, формируют сигналы для стабилизации подвижного носителя от его колебаний относительно центра масс и сигналов самонаведения подвижного носителя на ОВ.The proposed method for generating stabilization and homing signals of a mobile carrier is characterized by the fact that during the prelaunch preparation of the mobile carrier, signals characterizing the initial coordinates of the target or / and the initial destination of the OB are set and introduced onto the mobile carrier, form a packet of successive information words containing information in the form of signals about the initial values of the range to the target and the approach speed of the moving carrier with the target in the prelaunch position of the moving carrier, the angle of inclination and azimuth in the coordinate system associated with the center of mass of the mobile carrier, yaw, pitch and roll of the mobile carrier, as well as the first program range for the transition of the mobile carrier after starting to a lower trajectory and the second program range of radiation of the probe pulses, control word and command a word, then check the generated packet for any distortion in it, convert the signals characterizing the packet into a parallel form for reckoning on board the mobile carrier after starting the current yes the proximity of the moving carrier with the target, according to the obtained value of the initial range to the target, form a search zone for OM at this distance, as the relative position of the moving carrier before it starts and the target changes, the packet of sequential information words is continuously updated, after the launch of the moving carrier in the absence of location contact with the target measure the longitudinal component of the linear acceleration vector of the moving medium in a connected coordinate system on its board and perform offline calculation of the current far approach of the moving medium with the aim of double integration of the measured acceleration at the initial values of speed and range of approach given during the prelaunch preparation of the moving medium with the aim, when the moving medium reaches the first program range specified during its prelaunch preparation, the moving medium moves to a lower trajectory of its movement to the goal, when the mobile carrier reaches the second program range, also set during its prelaunch preparation, probing signals are taken into account due to the creation by the antenna system of simultaneously four directional patterns with partially overlapping lobes in two mutually perpendicular planes and, by the search for OB, they search for OBs in range and sector search for OBs in direction, while receiving signals reflected from the irradiated OBs located in within the formed OB search zone in range and within the OB search sector in the direction, the azimuth of the OB selected from the it is clear to the selection criteria, and the deviation of the selected OB in the distance from the center of the formed OB search zone is recorded, and after a complete search of the search sector, a signal is generated to enable the selected OB to be captured along the range and direction, the values of the autonomously calculated current speed and current approach distance are adjusted a mobile carrier with an OB by a value proportional to the deviation of the position of the OB from the center of the search zone in range and speed, auto-tracking of the selected OB a range wherein reflected from the irradiated OB signals are received by two pairs of receiving channels, perform a sum-difference transform the received signals to yield the total Σ signal and two difference Δ ₁ and Δ ₂ signal that alternately with a period of 4 · T _n, where T _p - the repetition period of the emitted sounding signals, add and subtract with the total ∑ signal, form the total-difference signals (half-sums and half-differences)

those. for a period of 4 · T _p form signals

which detect, and then generate signals proportional to the mismatch signals (errors) of the auto tracking along the slope (location) and azimuth, which are components of the spatial angular coordinate of the irradiated optical radiation in the antenna coordinate system. In addition, control signals are generated that are proportional, respectively, to the components of the angular velocity vector of the rotation of the line of sight in the direction of the OB, respectively, in the vertical and horizontal plane in the horizontal coordinate system, which integrate and combine the line of sight with the OB, while registering signals proportional to the deviations of the line of sight OB in the angle of inclination and in azimuth relative to the housing of the movable carrier, they automatically conduct OB in the direction. According to the received signals proportional to the components of the vector of the angular velocity of rotation of the line of sight in the direction of the OB in the vertical and horizontal plane, signals proportional to the deviations of the line of sight of the OB in the angle of inclination and in azimuth relative to the housing of the mobile carrier, signals proportional to the current values of the proximity of the moving carrier with the OB and its rate of change, as well as signals proportional to the initial values of yaw (course), pitch and roll, form signals to stabilize odvizhnogo medium from its oscillation relative to the mass center and the mobile carrier homing signals to OM.

вектора

линейной скорости предстартового перемещения подвижного носителя на соответствующие координатные оси горизонтальной системы координат Оξηζ с началом в центре масс подвижного носителя, декартовых координат ξ⁰, η⁰, ζ⁰ цели или/и ОВ, географической долготы λ₀ и географической широты φ₀ подвижного носителя (фиг.1). На борту подвижного носителя заданные начальные условия выставки инерциального измерения параметров вектора визирования цели или/и ОВ преобразуют в сигналы, пропорциональные проекциям

вектора

линейной скорости предстартового перемещения подвижного носителя на соответствующие координатные оси базовой антенной системы координат Oxyz (фиг.3), в сигналы, пропорциональные углам

и

визирования цели или/и ОВ соответственно в горизонтальной плоскости и в вертикальной плоскости в системе координат Оξηζ (фиг.3), в сигналы, пропорциональные составляющим

и

пространственной угловой координаты

или/и

в базовой антенной системе координат Oxyz (фиг.2), в сигналы, пропорциональные направляющим косинусам

где i, j = 1, 2, 3, определяющим начальное взаимное положение базовой антенной системы координат Oxyz и опорной геоцентрической системы координат Оξηζ (фиг.3), в сигналы, пропорциональные составляющим

и

пространственной угловой координаты

или/и

в базовой антенной системе координат Oxyz (фиг.2), в сигналы, пропорциональные направляющим косинусам

где i, j = 1, 2, 3, определяющим начальное взаимное положение базовой антенной системы координат Oxyz и опорной геоцентрической системы координат Сξ₀η₀ζ₀, связанной одной своей координатной осью Сζ₀ с неподвижной целью или/и с ОВ, расположенной, например, на земной поверхности (фиг.1). Данные преобразования выполняются согласно следующему алгоритму:When prelaunching the preparation of a mobile carrier, in addition to setting the initial coordinates of the target or / and the initial destination of the OM, the initial conditions for the inertial measurement of the parameters of the targeting vector of the target and / or OM are formed in the form of signals characterizing a packet of consecutive information words (information array) containing the initial values of the projections

of vector

the linear velocity of the prelaunch movement of the mobile carrier to the corresponding coordinate axes of the horizontal coordinate system Оξηζ with the origin at the center of mass of the mobile carrier, the Cartesian coordinates ξ ⁰ , η ⁰ , ζ ^{0 of the} target or / and OB, the geographical longitude λ ₀ and the geographical latitude φ _{0 of the} mobile carrier ( figure 1). On board the mobile carrier, the specified initial conditions for the inertial measurement of the parameters of the target vector of sight and / or OM are converted into signals proportional to the projections

of vector

the linear velocity of the prelaunch movement of the mobile carrier to the corresponding coordinate axes of the base antenna coordinate system Oxyz (Fig.3), in signals proportional to the angles

and

sighting the target and / or OM, respectively, in the horizontal plane and in the vertical plane in the coordinate system Оξηζ (Fig. 3), into signals proportional to the components

and

spatial angular coordinate

or / and

in the base antenna coordinate system Oxyz (figure 2), in signals proportional to the direction cosines

where i, j = 1, 2, 3, which determines the initial relative position of the base antenna coordinate system Oxyz and the reference geocentric coordinate system Оξηζ (Fig. 3), in signals proportional to the components

and

spatial angular coordinate

or / and

in the base antenna coordinate system Oxyz (figure 2), in signals proportional to the direction cosines

where i, j = 1, 2, 3, which determines the initial relative position of the base antenna coordinate system Oxyz and the reference geocentric coordinate system Сξ ₀ η ₀ ζ ₀ , connected by one of its coordinate axis Сζ ₀ with a fixed target and / or with an OB located for example, on the earth's surface (figure 1). These transformations are performed according to the following algorithm:

Where

ξ ⁰ = ξ _max is the initial value of the horizontal Cartesian coordinate of the target or / and OM, i.e. horizontal range D ₀ start mobile carrier;

Where

ζ ⁰ is the initial value of the lateral Cartesian coordinate of the target or / and OM in the horizontal plane;

Where

центра масс подвижного носителя, определяющего его положение относительно центра Земли;r ₀ is the initial value of the modulus of the radius vector

the center of mass of the mobile carrier, determining its position relative to the center of the Earth;

H ₀ = η ⁰ is the launch height of the movable carrier;

R = R _s - the radius of the terrestrial spheroid at the location of the target or / and OM;

Where

L ₀ - the initial value of the slant range to the target or / and the OB, specified by the prelaunch initial purpose;

Where

j, k = 1, 2, 3;

Where

i is the increment value (increment).

кажущегося линейного ускорения движения и проекциям ω_зх, ω_зy, ω_зz вектора

абсолютной угловой скорости поворота зеркала антенны на соответствующие координатные оси системы координат Ох_зy_зz_з, связанной с зеркалом антенны, где ось Ох_з - оптическая ось зеркала. По этим измеренным сигналам, принимая во внимание функциональную зависимость (переменную электрическую редукцию) между углами поворота подвижного зеркала и углами поворота линии визирования (диаграммы направленности (луча) антенны) при вращении зеркала в двух взаимно перпендикулярных плоскостях относительно неподвижного облучателя, определяют сигналы, пропорциональные проекциям n_х, n_у, n_z вектора

кажущегося линейного ускорения движения и проекциям ω_x, ω_y, ω_z вектора

абсолютной угловой скорости поворота вектора визирования цели на соответствующие координатные оси базовой антенной системы координат Oxyz, с учетом следующих соотношений:At the time of the start of the mobile carrier, the update of the initial information is stopped; signals proportional to the projections n _sx , n _sy , n _{sz of the} vector

apparent linear acceleration of motion and projections ω _zx , ω _zy , ω _{zz of the} vector

absolute angular velocity of the mirror of the antenna to the respective coordinate axes of the coordinate system Ox z _{z z} y _z associated with a mirror antenna, where the axis _of Ox - mirror optical axis. From these measured signals, taking into account the functional dependence (variable electric reduction) between the angles of rotation of the movable mirror and the angles of rotation of the line of sight (radiation pattern (beam) of the antenna) when the mirror rotates in two mutually perpendicular planes relative to the stationary irradiator, signals proportional to the projections n _x , n _y , n _z vectors

apparent linear acceleration of motion and projections ω _x , ω _y , ω _{z of the} vector

the absolute angular velocity of the rotation of the targeting vector to the corresponding coordinate axes of the base antenna coordinate system Oxyz, taking into account the following relationships:

Where

ε ^H , ε ^A are the angles of rotation of the target vector of the target, respectively, in the angle of inclination and in azimuth;

,

- углы поворота зеркала антенны соответственно по углу наклона и по азимуту.

,

- the angles of rotation of the antenna mirror, respectively, in the angle of inclination and in azimuth.

визирования цели, а именно: проекций V_x, V_y, V_z вектора

абсолютной линейной скорости сближения подвижного носителя с целью на соответствующие координатные оси базовой антенной системы координат Oxyz, наклонной дальности L сближения подвижного носителя с целью, составляющих е₁ и е₂ пространственной угловой координаты

цели в базовой антенной системе координат Oxyz, направляющих косинусов β_jk, где j, k = 1, 2, 3, взаимного углового положения базовой антенной системы координат Oxyz и опорной геоцентрической системы координат Сξ₀η₀ζ₀ (фиг.1), разрешая следующий алгоритм работы инерциального измерения параметров вектора визирования цели, приводимый в векторной форме:Based on the received signals, given the initial information of the purpose of the target or / and the target and the initial conditions of the exhibition of inertial measurement of the parameters of the vector of sight, signals proportional to the current values of the vector

sight of the target, namely: projections V _x , V _y , V _{z of the} vector

the absolute linear approach speed of the moving carrier with the target to the corresponding coordinate axes of the base antenna coordinate system Oxyz, the inclined range L of the approach of the moving carrier with a target of e ₁ and e _{2 of the} spatial angular coordinate

targets in the base antenna coordinate system Oxyz, the guiding cosines β _jk , where j, k = 1, 2, 3, of the relative angular position of the base antenna coordinate system Oxyz and the reference geocentric coordinate system Сξ ₀ η ₀ ζ ₀ (Fig. 1), allowing the following algorithm of inertial measurement of the parameters of the targeting vector, given in vector form:

Where

и по азимуту

относительно корпуса подвижного носителя, которые и преобразуют с учетом переменной электрической редукции в сигналы, пропорциональные углам поворота вектора (линии) визирования по углу наклона (места) и по азимуту относительно корпуса подвижного носителя до совмещения его направления с направлением на цель, и совмещают метку (подвижный строб) дальности с целью. При этом формируют сигналы, пропорциональные скорости изменения углов визирования цели в горизонтальной

и в вертикальной

плоскости в системе координат Оξηζ (фиг.3), а также сигналы, пропорциональные скорости изменения угла наклона

и азимута

(скорости изменения пеленгов цели) в связанной системе координат Ox₁y₁z₁ (фиг.4). Одновременно преобразуют сигналы, пропорциональные проекциям ω_x, ω_y, ω_z вектора

абсолютной угловой скорости поворота базовой антенной системы координат Oxyz, в сигналы, пропорциональные его проекциям

на соответствующие координатные оси связанной системы координат Ox₁y₁z₁.In the absence of location contact with the OB, the received signals are converted, proportional to the corresponding current values of the target vector parameters, into control signals, according to which the antenna mirror is rotated along the tilt angle

and in azimuth

relative to the housing of the mobile carrier, which are converted, taking into account the variable electric reduction, into signals proportional to the angles of rotation of the vector (line) of sight according to the angle of inclination (location) and azimuth relative to the housing of the mobile carrier to combine its direction with the direction to the target, and combine the mark ( movable strobe) range with a target. In this case, signals are generated proportional to the rate of change of the target’s viewing angles in horizontal

and in vertical

the plane in the coordinate system Оξηζ (Fig. 3), as well as signals proportional to the rate of change of the angle of inclination

and azimuth

(rate of change of bearings of the target) in the associated coordinate system Ox ₁ y ₁ z ₁ (figure 4). At the same time, signals are proportional to the projections ω _x , ω _y , ω _{z of the} vector

absolute angular velocity of rotation of the base antenna coordinate system Oxyz, into signals proportional to its projections

to the corresponding coordinate axes of the associated coordinate system Ox ₁ y ₁ z ₁ .

, тангажа

, крена

подвижного носителя согласно алгоритму, приводимому в обобщенном виде:Then, signals proportional to the rate of change, respectively, of yaw, are determined

pitch

roll

mobile carrier according to the algorithm presented in a generalized form:

вектора

углового ускорения подвижного носителя на соответствующие координатные оси связанной системы координат Ox₁y₁z₁. Наконец, по полученным сигналам формируют сигналы стабилизации подвижного носителя от его колебаний относительно своего центра масс в горизонтальной плоскости δ^г, в вертикальной плоскости δ^в и по крену δ^к, а также сигналы самонаведения подвижного носителя на цель, пропорциональные перегрузкам n^в и n^г, которые являются функциями, например, текущих значений сформированных углов положения подвижного носителя в вертикальной плоскости и в горизонтальной плоскости, функциями текущих значений модуля

наклонной скорости сближения подвижного носителя с целью и составляющих

и

вектора

угловой скорости поворота вектора (линии) визирования цели соответственно в вертикальной и в горизонтальной плоскости в системе координат Оξηζ. Полученную информацию преобразуют в управляющие сигналы, которые поступают в виде информационного массива стабилизации и управления по информационной линии связи во внешнюю аппаратуру управления рулевым приводом подвижного носителя.Integrating the obtained signals at the initial values ψ ₀ , ϑ ₀ , γ ₀ specified during the prelaunch preparation of the mobile carrier, they generate signals proportional to the current values of yaw ψ, pitch ϑ and roll γ, respectively. In this case, signals proportional to the projections are determined

of vector

angular acceleration of the moving carrier to the corresponding coordinate axes of the associated coordinate system Ox ₁ y ₁ z ₁ . Finally, the received signals form the signals of stabilization of the mobile carrier from its oscillations relative to its center of mass in the horizontal plane δ ^g , in the vertical plane δ ^c and roll δ ^k , as well as homing signals of the mobile carrier to the target, proportional to the overloads n ⁱⁿ and n ^g , which are functions, for example, of the current values of the formed angles of the position of the moving medium in the vertical plane and in the horizontal plane, functions of the current values of the module

the inclined approach speed of the moving carrier with the purpose and components

and

of vector

the angular velocity of rotation of the target vector (line) of sight of the target, respectively, in the vertical and horizontal plane in the coordinate system Оξηζ. The obtained information is converted into control signals, which are received in the form of an information array of stabilization and control via an information line of communication to external equipment for controlling the steering drive of a mobile carrier.

и

автосопровождения соответственно по углу наклона и по азимуту по основному или по встроенному каналу излучения, которые пропорциональны составляющим e₁ и е₂ пространственной угловой координаты

облучаемого ОВ, и сигнал, пропорциональный наклонной дальности L до ОВ, в антенной системе координат Oxyz (фиг.2). При этом по сигналам, пропорциональным измеренным значениям проекций n_x, n_y, n_z вектора

кажущегося линейного ускорения движения и проекций ω_x, ω_y, ω_z вектора

абсолютной угловой скорости поворота вектора (линии) визирования цели на соответствующие координатные оси базовой антенной системы координат Ox₀y₀z₀, фиксированной в момент времени начала поиска ОВ на заданный интервал времени разрешения, с учетом вектора с линейного смещения фазового центра антенны (или/и центра излучения зондирующих сигналов) относительно центра пересечения осей чувствительности измерения проекций n_x, n_y, n_z вектора

кажущегося линейного ускорения и проекций ω_x, ω_y, ω_z вектора

абсолютной угловой скорости поворота вектора визирования цели, определяют сигналы, пропорциональные параметрам траекторных флюктуации и деформирующих (упругих, вибрационных и т.п.) воздействий корпуса подвижного носителя на пространственное положение фазового центра антенны (или/и центра излучения зондирующих сигналов) относительно цели или/и ОВ. Причем измеряют сигналы, пропорциональные параметрам движения апертуры антенны относительно наблюдаемого (визируемого) объекта, т.е. цели или/и ОВ, которые являются параметрами траекторного сигнала в системе координат Ox_смy_смz_см, смещенной относительно фиксированной базовой антенной системы координат Ox₀y₀z₀ на некоторое расстояние, т.е. относительно фазового центра антенны. Указанные параметры определяют путем решения алгоритма работы инерциального измерения параметров вектора визирования цели или/и ОВ, позволяющего по сигналам, пропорциональным значениям проекций n_x, n_y, n_z и значениям проекций ω_x, ω_y, ω_z определять относительно плоскости апертуры антенны параметры вектора визирования цели или/и ОВ, согласованные с параметрами траекторного сигнала, т.е. путем решения следующего алгоритма, приводимого в векторной форме:When the value of the oblique range of proximity of the moving carrier with a target equal to the oblique range of a possible location contact with the OB is reached, the probing signals of the main wave range and then the built-in shorter wavelength range of the waves are sequentially emitted according to the adopted search logic of the OB. Moreover, the frequency of the shorter wavelength range of the wave exceeds an even number of times the frequency of the main wavelength range, the linear polarization of the main wavelength range is orthogonal to the linear polarization of the main wavelength range, and the sight lines of the integrated and main radiation channels are combined with each other and with the initial alignment of both radiation channels with the construction axes of the movable carrier, moreover, control of the direction of the combined line of sight is fulfilled by the same mirror drive of the base antenna ny range of waves. Then carry out a sector-specific search for OBs in the direction and search for OBs in range. Signals are received that are reflected from the irradiated SAR, which are located within the Sector's search sector in the direction and in the SAR range search range, and based on the main or built-in shorter wavelength range, the detection, selection, and capture of the SAR selected from all the SARs found in the search sector according to the accepted criteria of the choice, for auto-tracking in range and direction, combine information obtained as a result of primary processing of the received high-frequency signals received reflected from the irradiated OB in the main or in-line to the given wave range, the received signals are subjected to secondary (low-frequency) processing. As a result of this, mismatch signals (errors) are generated.

and

auto tracking, respectively, in the angle of inclination and in azimuth along the main or built-in radiation channel, which are proportional to the components e ₁ and e _{2 of the} spatial angular coordinate

irradiated S, and a signal proportional to the slant range L to S, in the Oxyz antenna coordinate system (figure 2). Moreover, according to signals proportional to the measured values of the projections n _x , n _y , n _{z of the} vector

apparent linear acceleration of motion and projections ω _x , ω _y , ω _{z of the} vector

the absolute angular velocity of rotation of the target line of sight vector (line) to the corresponding coordinate axes of the base antenna coordinate system Ox ₀ y ₀ z ₀ , fixed at the time of the beginning of the search for the OB for a given resolution time interval, taking into account the vector from the linear displacement of the antenna phase center (or / and the center of radiation of the probing signals) relative to the center of intersection of the axes of sensitivity of the measurement of projections n _x , n _y , n _{z of the} vector

apparent linear acceleration and projections ω _x , ω _y , ω _{z of the} vector

the absolute angular velocity of rotation of the targeting vector, signals are determined that are proportional to the parameters of the trajectory fluctuations and deforming (elastic, vibrational, etc.) effects of the housing of the mobile carrier on the spatial position of the phase center of the antenna (or / and the radiation center of the probe signals) relative to the target or / and OB. Moreover, they measure signals proportional to the parameters of the movement of the antenna aperture relative to the observed (sighted) object, i.e. targets and / or OM, which are the parameters of the trajectory signal in the coordinate system Ox _cm y _cm z _cm offset from the fixed base antenna of the coordinate system Ox ₀ y ₀ z ₀ by a certain distance, i.e. relative to the phase center of the antenna. These parameters are determined by solving the algorithm of inertial measurement of the parameters of the target vector of sight or / and OM, allowing signals to be determined proportionally to the projections n _x , n _y , n _z and projection values ω _x , ω _y , ω _z relative to the antenna aperture plane targeting vectors of target or / and OM consistent with the parameters of the trajectory signal, i.e. by solving the following algorithm, given in vector form:

Where

k ₁ , k ₂ —damping coefficients and changes in the eigenfrequency of errors in determining the motion parameters of the antenna phase center, and when indicating interference, the coefficients k ₁ and k ₂ are reset;

- вектор линейной скорости движения фазового центра антенны относительно цели;

- vector of linear velocity of the phase center of the antenna relative to the target;

- вектор визирования наблюдаемого объекта;

- vector of sight of the observed object;

- орт вектора

;

- vector unit vector

;

- вектор относительной линейной скорости подвижного носителя и, следовательно, фазового центра антенны, измеренный дальномерным каналом устройства автосопровождения по дальности и характеризующий линейную скорость движения подвижного носителя относительно цели или/и ОВ.

is the vector of the relative linear velocity of the moving carrier and, therefore, the phase center of the antenna, measured by the rangefinder channel of the auto-tracking device in range and characterizing the linear speed of the moving carrier relative to the target and / or OB.

, необходима для уменьшения влияния на точность определения параметров движения фазового центра антенны инструментальных погрешностей однокомпонентных измерителей линейного ускорения и измерителей угловой скорости, а также ошибок задания параметров начальной выставки инерциального измерения параметров вектора визирования и методических ошибок, связанных, в частности, с неучетом рельефа земной поверхности. При этом вектор

смещения определяют согласно алгоритму:Correction in the above algorithm for a signal proportional to the components of the vector

, is necessary to reduce the influence on the accuracy of determining the motion parameters of the antenna phase center of the instrumental errors of single-component linear acceleration meters and angular velocity meters, as well as errors in setting the parameters of the initial exhibition of inertial measurements of the parameters of the vector of sight and methodological errors related, in particular, to neglecting the relief of the earth’s surface . In this case, the vector

the displacements are determined according to the algorithm:

Where

- радиус-вектор фазового центра антенны в системе координат осей чувствительности измерения проекций n_x, n_y, n_z вектора

кажущегося линейного ускорения и проекций ω_x, ω_y, ω_z вектора

абсолютной угловой скорости поворота вектора (линии) визирования цели или/и ОВ.

is the radius vector of the phase center of the antenna in the coordinate system of the axes of sensitivity of the projection measurement n _x , n _y , n _{z of the} vector

apparent linear acceleration and projections ω _x , ω _y , ω _{z of the} vector

the absolute angular velocity of the rotation of the vector (line) of sight of the target or / and OM.

,

,

, которые вводят в алгоритм в момент времени t₀ начала поиска ОВ (или начала заданного интервала времени разрешения), определяют необходимые для формирования сигнала, пропорционального фазе опорной функции, сигналы, пропорциональные значениям радиальной скорости

и радиального ускорения

, согласно алгоритму:The presented algorithm in vector form is a closed-loop system of vector differential equations in the base antenna coordinate system Ox ₀ y ₀ z ₀ , fixed, for example, during the search for an OB for a given resolution time interval at initial parameter values

,

,

which are introduced into the algorithm at time t _{0 of the} beginning of the search for the organic matter (or the beginning of a given interval of the resolution time), the signals proportional to the radial velocity values necessary for generating a signal proportional to the phase of the support function are determined

and radial acceleration

according to the algorithm:

Next, they form a signal proportional to the phase of the support function according to the algorithm:

Where

λ is the wavelength of the emitted sounding signals;

t - time of search for organic matter (or time of resolution).

And, finally, they form a signal proportional to the phase correction Δφ, which compensates for the trajectory instabilities of the antenna phase center in the received signals reflected from the irradiated earth's surface at the place where the target is set, and / or reflected from the irradiated S, according to the algorithm:

, который остается постоянным в базовой антенной системе координат Oxyz. При этом указанные деформирующие (упругие, вибрационные и т.п.) воздействия физически проявляются в виде составляющих погрешностей однокомпонентных измерителей линейного ускорения и измерителей проекций вектора абсолютной угловой скорости, что позволяет решать задачу их коррекции (компенсации) путем реализации алгоритмов комплексирования информации инерциального измерения параметров вектора визирования цели или/и ОВ и информации радиолокационного автосопровождения ОВ по направлению и по дальности. Амплитудные искажения принимаемых сигналов, отраженных от ОВ, компенсируют путем гиростабилизации вектора (линии) визирования цели или/и ОВ.The phase center of the antenna (or / and the center of radiation of the probing signals) is stationary when the mobile carrier is in a static state. During the movement of the movable carrier under the influence of elastic, vibration, etc. oscillations of the housing of the mobile carrier, the phase center of the antenna makes false oscillatory motions, mathematically determined relative to its static position by the displacement vector

which remains constant in the Oxyz base antenna coordinate system. At the same time, these deforming (elastic, vibrational, etc.) effects are physically manifested in the form of error components of single-component linear acceleration meters and projection meters of the absolute angular velocity vector, which allows us to solve the problem of their correction (compensation) by implementing algorithms for integrating inertial parameter measurement information vector of sight of the target and / or OB and information of the radar auto tracking OB in the direction and range. The amplitude distortions of the received signals reflected from the optical radiation are compensated by gyro stabilization of the target vector (line) of the target or / and optical radiation.

цели или/и ОВ и наклонной дальности L_ц (или приращение дальности ΔL_ц) сближения подвижного носителя с целью или/и с ОВ, соответственно с идентичными сигналами автосопровождения ОВ по направлению и по дальности, пропорциональными текущим значениям параметров вектора визирования ОВ в базовой антенной системе координат Oxyz, а именно: составляющим е₁ и е₂ пространственной угловой координаты

ОВ и наклонной дальности L_ОВ (или приращения дальности ΔL_ОВ) сближения подвижного носителя с ОВ, осуществляют оптимальную адаптивную помехоустойчивую фильтрацию соответствующих сигналов сравнения, формируя сигналы, пропорциональные соответственно текущим значениям параметров вектора визирования цели. По сигналам, полученным в результате компенсации (коррекции), формируют управляющие сигналы, по которым производят поворот зеркала антенны по углу наклона

и по азимуту

относительно корпуса подвижного носителя, регистрируют их и преобразуют с учетом переменной электрической редукции в сигналы, пропорциональные углам поворота вектора (линии) визирования по углу наклона ε^Н и по азимуту ε^А относительно корпуса подвижного носителя до совмещения его направления с направлением на ОВ, а при автосопровождении по дальности отфильтрованный сигнал рассогласования (ошибки) интегрируют во времени и получают информацию о наклонной дальности и скорости сближения подвижного носителя с ОВ. Одновременно формируют сигналы, пропорциональные скорости изменения соответственно углов визирования ОВ в горизонтальной

и в вертикальной

плоскости в системе координат Оξηζ, сигналы стабилизации подвижного носителя от его колебаний относительно своего центра масс в горизонтальной плоскости δ^г, в вертикальной плоскости δ^в и по крену δ^к, а также сигналы самонаведения подвижного носителя на ОВ, пропорциональные перегрузкам соответственно в горизонтальной n^г и в вертикальной n^в плоскости, которые являются функциями, например, текущих значений модуля скорости

изменения наклонной дальности сближения подвижного носителя с ОВ соответственно и скорости изменения углов визирования ОВ в горизонтальной

и вертикальной

плоскости. Преобразуют полученные сигналы в сигналы управления рулевым приводом подвижного носителя, обеспечивая стабилизацию и самонаведение подвижного носителя на ОВ согласно принятому закону самонаведения.During OB auto-tracking in direction and range, the generated signals are proportional to the current values of the target vector of the target in the Oxyz base antenna coordinate system, namely: components of the spatial angular coordinate e ₁ and e ₂

target and / or OB and inclined range L _c (or range increment ΔL _c ) of approaching the moving carrier with the target and / or OB, respectively, with identical OB auto-tracking signals in direction and range, proportional to the current values of the OB sight vector parameters in the base antenna Oxyz coordinate system, namely: components of e ₁ and e _{2 of the} spatial angular coordinate

OB and oblique range L _OB (or range increment ΔL _OB ) of the approach of the mobile carrier with the OB, carry out optimal adaptive noise-resistant filtering of the corresponding comparison signals, generating signals proportional to the current values of the target vector of the target, respectively. Based on the signals obtained as a result of compensation (correction), control signals are generated, by which the antenna mirror is rotated along the tilt angle

and in azimuth

relative to the housing of the mobile carrier, register them and convert them taking into account the variable electrical reduction into signals proportional to the angles of rotation of the vector (line) of sight along the angle of inclination ε ^Н and azimuth ε ^A relative to the housing of the mobile carrier until its direction coincides with the direction to OB, and when auto tracking along the range, the filtered error signal (errors) is integrated in time and information is obtained on the slant range and the speed of approach of the moving carrier with the OB. At the same time, they generate signals proportional to the rate of change, respectively, of the angles of sight of the OM in

and in vertical

plane in the coordinate system Оξηζ, stabilization signals of the mobile carrier from its oscillations relative to its center of mass in the horizontal plane δ ^g , in the vertical plane δ ⁱⁿ and along the roll δ ^k , as well as homing signals of the mobile carrier on the OB, proportional to overloads, respectively, in horizontal n ^g and in vertical n ^{in the} plane, which are functions of, for example, the current values of the velocity modulus

changes in the oblique range of approach of the mobile carrier with the OB, respectively, and the rate of change of the angles of sight of the OB in the horizontal

and vertical

the plane. The received signals are converted into control signals for the steering drive of the mobile carrier, providing stabilization and homing of the mobile carrier to the OB according to the adopted homing law.

The proposed on-board homing system of the movable carrier (Fig.6) contains a parabolic mirror 1, which has the ability to rotate relative to the center of radiation of a stationary multi-channel irradiator 2 with linear polarization, rigidly mounted on the housing of the movable carrier. The parabolic mirror 1 is connected with the help of articulated rigid rods to the inner frame and to the outer frame of the biaxial cardan suspension, and the sensitive and actuating element 3 of the tracking gyro drive of the parabolic mirror 1 is installed in the inner frame, which is used as a three-stage two-channel gyroscope. In addition, the proposed system comprises a rotation angle sensor 4 of the outer frame of the biaxial cardan suspension mounted on the housing of the movable carrier and mechanically connected with its axis of rotation 5, and a rotation angle sensor 6 of the internal frame of the biaxial cardan suspension mounted on the outer frame and mechanically connected with the axis rotation 7 of the inner frame. The system also includes one-component linear acceleration meters 8, 9 and 10. The proposed system includes a device 11 for controlling the direction and gyrostabilization of the line of sight mechanically connected respectively to the axes 5 and 7 of the rotation of the outer and inner frames of the biaxial cardan suspension, the inputs of which are connected respectively with the outputs of the angle sensors of the precession of a controlled three-stage two-channel gyroscope 3, the two control inputs of which are connected by the outputs of the direction control device 11 and irostabilizatsii line of sight.

The proposed on-board homing system contains connected to a multi-channel irradiator 2 PSA 12 microwave signals, the outputs of which through the VKU 13 are connected to the transceiver 14, and the scanning signals are fed to the control inputs of the VKU 13. At the output of the transceiver 14, a video signal (BC) is generated.

From the outputs of the angle sensors 4 and 6 of the outer and inner frames of the biaxial cardan suspension, control signals of the OB bearings are obtained according to the inclination angle ε ^H and azimuth ε ^A to form the adopted homing law of the mobile carrier on the OB.

In the proposed system, a two-channel gyroscopic angular velocity sensor (DLS) 15 is additionally installed, which is installed in the inner frame of the biaxial cardan suspension of a parabolic mirror 1 so that in the locked position, one of its sensitivity axes coincides with the zero direction of the vector (line) of sight and the other axis sensitivity is oriented, for example, upward along the positive direction of the axis of rotation 7 of the inner frame of the biaxial cardan suspension of the parabolic mirror 1. In this case, the kinetic oment CRS gyro rotor 15 coincides with the positive direction of the axis of rotation 5 of the outer frame biaxial gimbal.

All three single-component linear acceleration meters 8, 9, 10 are installed in the inner frame of the biaxial cardan suspension of the parabolic mirror 1, and the sensitivity axis of one of them is mutually orthogonal to the mutually orthogonal sensitivity axes of the other two one-component linear acceleration meters. The sensitivity axis of one of the three one-component linear acceleration meters coincides in the locked position with the zero direction of the line of sight. In this case, the gyroscope 3, gyroscopic DOS 15 and three linear acceleration meters 8, 9, 10 form a unit for measuring the inertial channel of the proposed system (Fig.6). The distance between each of the hinges of rigid rods placed on the parabolic mirror 1 and the center of rotation of the parabolic mirror is equal to the distance between each of the hinges mounted respectively on the outer frame and on the inner frame of the biaxial cardan suspension of the parabolic mirror 1, and the center of rotation of these frames. In addition, the proposed system further comprises a radio navigation receiver 16, a digital computing device (CVC) 17, as well as a small hyperbolic lattice mirror 18 with a diameter several times smaller than the main parabolic mirror 1, rigidly connected by means of stationary waveguides to the housing of the moving carrier of the proposed system. One of the foci F _{1 of the} small hyperbolic lattice mirror 18, which is distant with respect to the main parabolic mirror 1, coincides with the focus of the parabolic mirror 1, and in the other focus F _{2 of the} small hyperbolic lattice mirror 18, which is proximal to the main parabolic mirror 1 , the phase center of the antenna or / and the radiation center of the stationary multi-channel irradiator 2 of direct irradiation of the main wavelength range with linear polarization coinciding with the direction of the conductors of the array logo hyperbolic mirror 18. In the far focus F ₁ small lattice hyperbolic mirror 18 mounted center multichannel radiation irradiator 19 direct radiation of shorter wavelength range with a linear polarization orthogonal to the direction of the lattice of small conductors hyperbolic mirror 18, which is rigidly connected to the movable carrier body via immovable waveguides connecting with an additionally introduced into the proposed system of PSA 20 microwave signals of a shorter wavelength range in oln PSA 20 is connected to the additionally introduced VKU 21 of the shorter wavelength range, controlled by the scanning signals. In this case, the transceiver 14 is made dual-band for the main and shorter wavelength ranges. The corresponding high-frequency inputs of the transceiver 14 are connected via waveguides to the additionally introduced VKU 21 of the shorter wavelength range, which is also connected via its waveguides to the additionally introduced PSA 20 of the microwave signals of the shorter wavelength range. Parabolic mirror 1 and hyperbolic mirror 18 together with irradiators 2 and 19, as well as SRP 12 and 20, VKU 13 and 21, transceiver 14 form an antenna-waveguide transceiver module of the proposed on-board homing system of a mobile carrier. In the proposed on-board homing system, the outputs of three one-component linear acceleration meters 8, 9, 10, the outputs of the angle sensors 4 and 6, respectively, of the outer and inner frames of the biaxial cardan suspension, the outputs of the two-channel gyroscopic DUS 15, the outputs of the device 11 control direction and gyrostabilization line (vector) sights, as well as the aircraft output of the dual-band transceiver 14 are connected to the corresponding inputs of the CVU 17, and the outputs of the error signals (errors) of the automatic tracking systems in the angle it and azimuth CWU 17 are connected to respective direction control device 11 and inputs gyrostabilization line (vector) of sight.

The information input of the CVU 17 is connected by an information communication line 22 with the radio navigation receiver 16 of the signals of the satellite navigation system. At the same time, through this information communication line 22, the TsVU 17 receives an information array of correction signals of the proposed on-board homing system. Another information input TsVU 17 is connected by an information communication line 23 with external equipment for the preparation and control of the launch of a mobile carrier of the proposed homing system. Through the information communication line 23, the TsVU 17 receives the information array of the prelaunch initial purpose of the OM and / or the target and the initial exhibition of the inertial measurement of the parameters of the vector of sight.

In this case, an information array of commands and control signals of the high-frequency part of the proposed on-board homing system is issued through one of the information outputs of the CVU 17 via the information communication line 24, and the other information output of the CVU 17 is connected by the communication information line 25 to the external equipment for controlling the steering drive of the mobile carrier. An information array of control and stabilization of the mobile carrier from oscillations with respect to its center of mass is issued via the information communication line 25 from the CVU 17, thereby providing homing of the mobile carrier to the OB according to the adopted homing law.

The radionavigation receiver 16 provides navigation information via a standard interface to the DAC 17, has built-in software for generating corrective information for inertial measurement of the parameters of the target vector or / and OB while simultaneously outputting a high-precision time stamp to the DAC 17.

It includes an antenna, a receiving module and a device for processing received signals and is designed to determine the current coordinates of a place, altitude, ground speed and time with high accuracy from the signals of a satellite navigation system anywhere in the world and near-Earth space, at any time and regardless of weather conditions.

The work of the proposed on-board homing system of a mobile carrier is as follows.

During prelaunch preparation and launch launch control of the proposed on-board homing system in the initial exhibition and initial destination and / or air destination mode, to the TsVU information input 17 via the information communication line 23 (via ARING 429 channel) from external training and launch control equipment to the serial receiver The code receives an information array consisting, for example, of 20 32-bit words:

- control word;

- L ₀ - the initial value of the inclined approach distance of the moving carrier with a target and / or OB;

- начальное значение скорости изменения наклонной дальности сближения подвижного носителя с целью или/и ОВ;-

- the initial value of the rate of change of the inclined approach distance of the moving carrier with the target and / or OB;

- начальные значения проекций вектора

линейной скорости подвижного носителя на координатные оси горизонтальной системы координат Оξηζ (фиг.1);-

are the initial values of the projections of the vector

the linear velocity of the moving medium to the coordinate axes of the horizontal coordinate system Оξηζ (Fig. 1);

- ξ ⁰ , η ⁰ , ζ ⁰ - the initial values of the Cartesian coordinates of the target or / and OM in the horizontal coordinate system Оξηζ;

- λ ₀ , φ ₀ - the initial values of the geographical longitude and latitude of the mobile carrier at the time of its launch (figure 1);

- ψ ₀ , ϑ ₀ , γ ₀ - the initial value of yaw, pitch, roll of the movable carrier at the time of its start (figure 5);

- начальные значения угла места (наклона) и азимута цели или/и ОВ, т.е. «вертикальный» и «горизонтальный» пеленг в связанной с подвижным носителем системе координат Ox₁y₁z₁ (фиг.4);-

- initial elevation (slope) and azimuth of the target or / and OB, i.e. "Vertical" and "horizontal" bearing in the coordinate system Ox ₁ y ₁ z ₁ associated with the movable carrier (Fig. 4);

- L _PP - the inclined range, upon reaching which the gearbox is issued, which is implemented in the equipment for controlling the steering drive of the mobile carrier, its reduction (planning) and exit to the low-altitude end section of the trajectory of movement to the OB (first program range);

- L _VP - the inclined range of the transceiver 14 on the final portion of the path of the moving medium (second program range);

- a command word, containing, for example, 15 operational commands, each of which is recorded in the corresponding word category in the form of “1” for each launch mode of the mobile medium.

This information array, as the relative position of the mobile carrier and the target and / or OB changes, is continuously updated and rewritten. At the same time, according to this initial information, in TsVU 17 an algorithm for the formation of the initial conditions for the exhibition of inertial measurement of the parameters of the target vector of sight or / and optical radiation in the Oxyz antenna base coordinate system is implemented, namely:

- начальные значения горизонтального и вертикального углов визирования цели или/и ОВ в горизонтальной системе координат Оξηζ (фиг.3);-

- the initial values of the horizontal and vertical angles of sight of the target or / and OM in the horizontal coordinate system Oξηζ (Fig.3);

- начальные значения проекций вектора

линейной скорости подвижного носителя на координатные оси антенной базовой системы координат Oxyz (фиг.2);-

are the initial values of the projections of the vector

the linear velocity of the mobile carrier to the coordinate axes of the antenna of the base coordinate system Oxyz (figure 2);

- начальные значения составляющих пространственной угловой координаты

цели или/и ОВ в антенной базовой системе координат Oxyz (фиг.2);-

- initial values of the components of the spatial angular coordinate

targets and / or OB in the Oxyz antenna base coordinate system (FIG. 2);

- начальные значения географической долготы и широты цели или/и ОВ в момент старта подвижного носителя (фиг.1);-

- the initial values of the geographical longitude and latitude of the target and / or OB at the start of the mobile carrier (Fig. 1);

- матрица начальных значений направляющих косинусов, определяющих взаимное положение антенной базовой системы координат Oxyz и опорной геоцентрической системы координат Сξ₀η₀ζ_0, одна координатная ось которой связана с целью или/и ОВ, причем С - центр земного сфероида (фиг.1).-

- a matrix of initial values of the direction cosines that determine the relative position of the antenna of the base coordinate system Oxyz and the reference geocentric coordinate system Сξ ₀ η ₀ ζ _0, one coordinate axis of which is connected with the target and / or OB, and C is the center of the earth spheroid (Fig. 1) .

(где j, k = 1, 2, 3) и V_x, V_y, V_z, L_ц,

β_jk, (где j, k = 1, 2, 3), а также составляющие e₁ и е₂ пространственной угловой координаты

цели, являющиеся сигналами рассогласования (ошибки) между направлением линии (вектора) визирования и направлением на цель в антенной базовой системе координат Oxyz, которые в ЦВУ 17 преобразуются в сигналы, пропорциональные е_1з и е_2з соответственно, и выдаются для отработки в устройство 11, где формируются соответствующие управляющие токи I_г и I_в, которые подаются на обмотки соответствующих датчиков момента гироскопа 3 и которые пропорциональны угловой скорости

и

поворота параболического зеркала 1 соответственно в горизонтальной плоскости и в вертикальной плоскости в горизонтальной системе координат Оξηζ. Углы поворота параболического зеркала 1 регистрируют датчик 4 угла наклона и датчик 6 азимута, установленные на соответствующих рамках двухосного карданова подвеса зеркала 1.At the time of the start of the mobile carrier, the receipt in TsVU 17 of the information array of the prelaunch initial purpose of the target and the initial exhibition of the inertial measurement of the parameters of the vector of sight stops. At the same time, a controlled three-stage gyroscope 3, a gyroscopic DOS 15, linear acceleration meters 8, 9, 10 are snapped and the process of inertial measurement of the target vector of the target is activated, the functioning algorithm of which is implemented in the CVU 17. In this case, the signals are proportional to n _x , n _y , n _z and ω _x , ω _y , ω _z , in TsVU 17 the current values of the parameters are calculated:

(where j, k = 1, 2, 3) and V _x , V _y , V _z , L _c ,

β _jk , (where j, k = 1, 2, 3), as well as the components e ₁ and e _{2 of the} spatial angular coordinate

targets that are mismatch (error) signals between the direction of the line (vector) of the line of sight and the direction to the target in the Oxyz antenna base coordinate system, which in the CVU 17 are converted into signals proportional to e _1z and e _2z, respectively, and issued for processing to device 11, where the corresponding control currents I _g and I _{c are formed} , which are supplied to the windings of the corresponding moment sensors of the gyroscope 3 and which are proportional to the angular velocity

and

rotation of the parabolic mirror 1, respectively, in the horizontal plane and in the vertical plane in the horizontal coordinate system Оξηζ. The rotation angles of the parabolic mirror 1 are recorded by the inclination angle sensor 4 and the azimuth sensor 6 mounted on the corresponding frames of the biaxial cardan suspension of the mirror 1.

и углу

с выхода датчика угла наклона 4 и с выхода датчика азимута 6 поступают в устройство 11 как сигналы отработки и в ЦВУ 17, где преобразуются в сигналы, пропорциональные соответственно углам поворота линии (вектора) визирования в направлении на цель (фиг.4) по наклону

и по азимуту

в связанной системе координат Ox₁y₁z₁, т.е. относительно корпуса подвижного носителя.Angular proportional stresses

and corner

from the output of the sensor of the angle of inclination 4 and from the output of the sensor of the azimuth 6 enter the device 11 as processing signals and to the TsVU 17, where they are converted into signals proportional to the angles of rotation of the line (vector) of sight in the direction to the target (Fig. 4) along the inclination

and in azimuth

in the connected coordinate system Ox ₁ y ₁ z ₁ , i.e. relative to the housing of the movable medium.

и

с выходов соответствующих усилителей мощности устройства 11 поступают на соответствующие входы ЦВУ 17, где преобразуются в сигналы, пропорциональные угловой скорости поворота линии

(вектора) визирования в вертикальной плоскости

в горизонтальной плоскости

в горизонтальной системе координат Оξηζ (фиг.3).At the same time, signals proportional to

and

from the outputs of the respective power amplifiers of the device 11 are supplied to the corresponding inputs of the CVU 17, where they are converted into signals proportional to the angular velocity of rotation of the line

(vector) vertical sight

in the horizontal plane

in the horizontal coordinate system Oξηζ (Fig.3).

и

выдаваемым в ЦВУ 17, формируются сигналы, пропорциональные

а также ω_x, ω_y, ω_z и

По полученным сигналам, пропорциональным ω_x, ω_y, ω_z, в ЦВУ 17 определяются сигналы, пропорциональные угловым скоростям колебания подвижного носителя относительно своего центра масс по рысканию

, по тангажу

, по крену

, и затем с учетом начальных значений рыскания ψ₀, тангажа ϑ₀, крена γ₀, заданных при предстартовой подготовке системы, формируются сигналы, пропорциональные текущим значениям рыскания ψ, тангажа ϑ и крена γ. В ЦВУ 17 также преобразуются вводимые сигналы

в сигналы n_x, n_y, n_z вторичной обработки информации. Информация, необходимая для формирования сигналов стабилизации подвижного носителя от колебаний относительно своего центра масс в горизонтальной плоскости δ^г, в вертикальной плоскости δ^в и по крену δ^к, а также сигналов самонаведения, пропорциональных горизонтальной перегрузке

и вертикальной перегрузке

заданных согласно принятому и заложенному в ЦВУ 17 закону самонаведения подвижного носителя, подготавливается в ЦВУ 17 на каждом интервале дискретизации.In addition, in TsVU 17 for signals proportional to

and

issued by the TsVU 17, signals are proportional

as well as ω _x , ω _y , ω _z and

According to the received signals proportional to ω _x , ω _y , ω _z , in TsVU 17 signals are determined that are proportional to the angular velocity of oscillation of the moving carrier relative to its yaw center of mass

in pitch

, roll

, and then, taking into account the initial yaw values ψ ₀ , pitch ϑ ₀ , roll γ ₀ specified during the pre-launch preparation of the system, signals are generated that are proportional to the current values of yaw ψ, pitch к and roll γ. The input signals are also converted to the DAC 17

into signals n _x , n _y , n _{z of} secondary information processing. Information necessary for generating stabilization signals of the mobile carrier from vibrations relative to its center of mass in the horizontal plane δ ^g , in the vertical plane δ ^c and along the roll δ ^k , as well as homing signals proportional to horizontal overload

and vertical overload

set according to the law of homing of a mobile carrier adopted and incorporated in CVM 17, is prepared in CVM 17 at each sampling interval.

The generated information on the information communication line 25 from the CVU 17 is issued to the steering equipment of the movable carrier steering gear external to the proposed on-board homing system. In TsVU 17, from the moment the mobile carrier of the proposed system starts, algorithms for the analytic orientation of the antenna base coordinate system Oxyz (Fig. 1) are implemented in the direction of the target, which integrates a system of differential equations of the first order, which determines the algorithm of inertial measurement of the parameters of the target vector of sight. This orientation of the antenna of the basic coordinate system in the CVU 17 is carried out on the entire trajectory of the moving carrier.

и для выполнения данного режима движения носителя.Upon reaching computed in the CWU 17 values of slant range L _q convergence movable carrier with the aim of a value equal to the slant range L _PP, which is set during prelaunch carrier in the CWU 17 generated command reduce movable carrier (scheduling) for low-altitude end portion of its trajectory to the goal. According to this command, in TsVU 17, a corresponding correction of the homing signal of the mobile carrier proportional to the overload is formed for working out in an external device

and to perform this mode of movement of the medium.

поиска ОВ относительно продольной строительной оси Ox₁ подвижного носителя. При этом оптическая ось Ox параболического зеркала 1 отклонена на постоянный, наперед заданный, малый угол наклона вниз.When the moving carrier reaches the inclined range L _{c of} approaching it with the target, also calculated in the CVD 17 according to the algorithm of inertial measurement of the target vector of the target, the magnitude of L _VP specified during the pre-launch preparation of the carrier, the CV search command is generated in the CVU 17, which is issued in the device 11, and the command to turn on the transceiver 14 to emit sounding pulses and to receive pulses reflected from the irradiated OB. By the command "Search for OB" (P), issued from the CVU 17 to the device 11, the parabolic mirror 1 is turned on in the sector swing mode in a given range of azimuthal angle variation

search OB relative to the longitudinal axis of the construction Ox ₁ mobile carrier. In this case, the optical axis Ox of the parabolic mirror 1 is deflected by a constant, predetermined, small angle of inclination downward.

и заданный закон движения диаграммы направленности при ее секторном качании в азимутальной плоскости.Formed in CVU 17 search parameters are issued to the device 11 and processed by a parabolic mirror 1, realizing the installation of its radiation pattern at a given constant angle of inclination -

and the given law of the radiation pattern during its sectorial swing in the azimuthal plane.

In the process of searching for OBs in the proposed on-board system, the OBs are detected and selected in accordance with the algorithms for processing the signal of the signal transmitted from the output of the transceiver 14 via the high-frequency communication line to the corresponding input of the CVU 17.

In the “Search for OB” mode, the TsVU 17 implements well-known algorithms for detecting, selecting, capturing, and transitioning the proposed system to the automatic tracking mode of the OB in range and direction, depending on the characteristics of the OB and / or destination of the mobile carrier of the proposed system.

Simultaneously with the implementation of 17 algorithms for detecting, selecting, capturing and switching to automatic tracking in the CVU in the proposed on-board homing system, the motion parameters of the antenna phase center (or / and emission centers of fixed multichannel direct irradiators of the main range 2 are determined in accordance with the algorithm installed in the CVU 17) and the built-in shorter wavelength range 19) on the time interval of the execution of the search mode OB (or on a given interval of measurement time). Under conditions of real movement of the mobile carrier and, consequently, the center of radiation of the probing signals (or / and the phase center of the antenna), the high-frequency part of the proposed system, i.e. its antenna-waveguide and transceiver module are exposed to trajectory disturbances in a wide range, including the deforming (elastic, vibrational, etc.) effects of the housing of the moving carrier, as well as the antenna-waveguide and transceiver module of the system. Moreover, there are also trajectory instabilities, i.e. small deviations from some predetermined reference trajectory of the moving carrier of the proposed system, which are caused by both the inaccuracy of the steering equipment control of the moving carrier of the carrier and various kinds of random disturbances during its movement, for example, in a turbulent atmosphere. To ensure an extremely high linear resolution in azimuth, it is necessary to know the changes in the current distance resulting from all factors from the phase center of the antenna (or / and the radiation center of the irradiator 2 or irradiator 19) depending on the effective range of radiation waves to the OB irradiated in the search mode with an accuracy of small a fraction of the wavelength of the radiated electromagnetic energy in the time interval of the search for organic matter (or in a given time interval of the measurement). This necessitates the need for high-precision measurement of short-term trajectory fluctuations in the center of radiation and compensation for the distortions caused by them received signals reflected from the irradiated S.

смещения с началом в центре пересечения осей чувствительности гироинерциальных датчиков 3, 8, 9, 10, 15. Фазовый центр антенны занимает неподвижное положение, когда подвижный носитель находится в статическом состоянии. Во время перемещения подвижного носителя под воздействием упругих, вибрационных и т.п. колебаний корпуса подвижного носителя реальный фазовый центр антенны совершает сложные колебательные движения, математически определяемые относительно его статического положения вектором

смещения, который вследствие этого остается постоянным в антенной базовой системе координат Oxyz. При этом указанные деформирующие воздействия физически проявляются в виде составляющих погрешностей гироинерциальных датчиков 3, 8, 9, 10, 15, что позволяет эффективно решать в ЦВУ 17 задачи их коррекции (компенсации) путем реализации алгоритмов комплексирования.The solution of the problems associated with this is carried out by inertial measurement of the parameters of the vector of sight of the irradiated organic matter, which allows the signals of single-component meters 8, 9, 10 of linear acceleration, as well as a two-channel gyroscopic TLS 15 and a two-channel three-stage gyroscope 3 installed in the inner frame of a two-axis cardan suspension of a parabolic mirror 1 near from the phase center of the antenna and rigidly connected to the aperture of the antenna, determine the parameters of the vector of sight in the antenna base coordinate system Oxyz, according associated with the parameters of the path signal. The algorithm of the high-precision inertial measurement of trajectory fluctuations takes into account the displacement of the center of intersection of the sensitivity axes of the gyroinertial sensors 3, 8, 9, 10, 15 relative to the antenna phase center by a certain distance (for example, not more than 0.3 m). The spatial location of this displacement relative to the phase center of the antenna in the absence of deforming effects (elastic, vibrational, etc.), i.e. when the mobile carrier is in static, is described by the vector

displacements with the beginning in the center of intersection of the sensitivity axes of the gyroinertial sensors 3, 8, 9, 10, 15. The phase center of the antenna occupies a stationary position when the mobile carrier is in a static state. During the movement of the movable carrier under the influence of elastic, vibration, etc. oscillations of the housing of the mobile carrier, the real phase center of the antenna makes complex oscillatory movements, mathematically determined relative to its static position by the vector

offset, which therefore remains constant in the Oxyz antenna base coordinate system. Moreover, these deforming effects are physically manifested in the form of component errors of the gyroinertial sensors 3, 8, 9, 10, 15, which makes it possible to efficiently solve problems of their correction (compensation) in CVU 17 by implementing complexation algorithms.

и радиального ускорения

Затем формируется фаза опорной функции и, наконец, вычисляется фазовая поправка, компенсирующая флюктуации на выходе приемного канала приемопередатчика 14, вызванные траекторными нестабильностями фазового центра антенны предлагаемой бортовой системы самонаведения.TsVU 17 implements an algorithm for determining the parameters of the movement of the antenna aperture with respect to the irradiated optical fiber in the search mode. These parameters are simultaneously the parameters of the path signal. The implementation of this algorithm is achieved by integrating the closed-loop system of differential equations in the antenna base coordinate system Ox ₀ y ₀ z ₀ , fixed during the entire time interval for searching for organic matter (or a given time interval for measurement) under the initial conditions specified and entered into the algorithm at time t ₀ the beginning of the OB search mode (or the beginning of a given measurement time interval), the transceiver 14 is turned on in the radiation mode of the probe signals and the reception of signals reflected from the irradiated OB, required for finding the phase of the reference value function of the radial velocity

and radial acceleration

Then the phase of the support function is formed and, finally, the phase correction is calculated, compensating for fluctuations at the output of the receiving channel of the transceiver 14 caused by trajectory instabilities of the antenna phase center of the proposed on-board homing system.

The algorithm implemented in TsVU 17 allows one to determine the parameters of the vector of sight in a shifted coordinate system Ox _cm y _cm z _cm , i.e. when placing gyroinertial sensors 3, 8, 9, 10, 15 at a certain distance from the center of radiation.

In addition, the use of inertial measurement of the parameters of the vector of sight makes it possible to implement algorithms that are invariant to the parameters of moving the mobile carrier of the proposed on-board homing system for the interaction of information of inertial measurement of parameters of the vector of sight with information about the inclined speed of approach of the mobile carrier from the OB of the rangefinder channel of the OB radar auto-tracking system, implemented in TsVU 17, providing, on the one hand, obtaining accurate estimates off of the phase center of the antenna (or / and the center of radiation of the probing signals) in the direction of the vector of sight in range and azimuth over the time interval of the search for the OB (or / and at the specified measurement interval), and on the other hand, ensuring the formation of the optimal parameter estimates during the search , characterizing the scattering of several objects of sight on the earth's surface in the area of the search sector, with their exact coordinate reference in the reference geocentric coordinate system Сξ ₀ η ₀ ζ ₀ (figure 1). This solves the problem of eliminating the distortions that arise during the search when choosing the OM to be hit, as well as when determining the most vulnerable radar-contrasting parts of the surface of the hull selected to destroy an extended OB.

At the same time, in TsVU 17, the operating algorithms of the OB auto-tracking systems are implemented in range and direction, which, together with the device 11 and the parabolic mirror 1, provides auto-tracking of the OB in the final section of the moving carrier moving path.

и

сигналы с выхода датчика 4 угла наклона

и с выхода датчика 6 азимута

а также с выхода датчиков линейного ускорения 8, 9, 10 соответственно сигналы

и с выходов гироскопического ДУС 15 и гироскопа 3 соответственно сигналы

Осуществляется вывод с выходов ЦВУ 17 в устройство 11 сигналов наведения

и

а также по информационной линии связи 24 вывод информационного массива команд и сигналов управления антенно-волноводным и приемопередающим модулем предлагаемой системы.In addition, in the “Search for OB” mode, signals are received from the device 11 in the CVU 17

and

signals from the output of the sensor 4 tilt angles

and from the output of the sensor 6 azimuth

and also from the output of linear acceleration sensors 8, 9, 10, respectively, signals

and from the outputs of the gyroscopic TLS 15 and gyroscope 3, respectively, the signals

The output from the outputs of the CVU 17 to the device 11 guidance signals

and

and also through the information communication line 24 output of the information array of commands and control signals of the antenna-waveguide and transceiver module of the proposed system.

по алгоритму

где

- наклонная скорость сближения подвижного носителя с целью, которые используются для формирования в ЦВУ 17 сигнала стабилизации положения подвижного носителя по высоте в течение времени действия режима поиска ОВ до момента захвата его на автосопровождение. Сигнал стабилизации по высоте пропорционален задаваемой вертикальной нагрузке

являющейся функцией параметров Н_абс и

Одновременно с этим на каждом интервале дискретизации в ЦВУ 17 формируются сигналы стабилизации подвижного носителя от колебаний его относительно своего центра масс в горизонтальной плоскости δ^г, в вертикальной плоскости δ^в и по крену δ^к, при этом формируется перегрузка в горизонтальной плоскости

The command “Search for OB” in TsVU 17 also solves the problem of determining the absolute height H _{abs of the} flight of the mobile carrier based on the result of inertial measurement of the parameters of the targeting vector according to the algorithm H _abs = L _c · sinε ⁱⁿ , where L _c is the inclined approach distance of the moving carrier for the purpose determined by inertial measurement of the parameters of the targeting vector; ε ^B = const - a given constant value of the deviation of the target vector (line) of sighting in the vertical plane, and its rate of change

according to the algorithm

Where

- the inclined speed of convergence of the moving carrier for the purpose that is used to generate a signal to stabilize the position of the moving carrier in the CVC 17 for the height during the duration of the search mode OB until it is captured for auto tracking. The height stabilization signal is proportional to the specified vertical load.

which is a function of the parameters H _abs and

At the same time, on each sampling interval in TsVU 17, stabilization signals of the movable carrier from its vibrations relative to its center of mass in the horizontal plane δ ^g , in the vertical plane δ ⁱⁿ and along the roll δ ^{k are formed} , while overload is formed in the horizontal plane

и

по информационной линии связи 25 выдаются во внешнюю по отношению к предлагаемой системе самонаведения аппаратуру управления рулевым приводом подвижного носителя.The signals generated in the CVU 17 are proportional to the stabilization parameters δ ^g , δ ⁱⁿ , δ ^to and homing parameters

and

on the information communication line 25 issued to the external relative to the proposed homing system control equipment for steering the drive of a mobile carrier.

и

между направлением оптической оси параболического зеркала 1 и направлением на ОВ, которые с выходов усилителей мощности в виде электрических токов I_в и I_г, пропорциональных соответственно составляющим

и

вектора угловой скорости

поворота параболического зеркала 1 соответственно в горизонтальной и в вертикальной плоскости, подаются на обмотки соответствующих датчиков момента гироскопа 3. С соответствующих датчиков угла прецессии гироскопа 3 затем на входы устройства 11 в широкополосные контуры гиростабилизации поступают сигналы гиростабилизации, пропорциональные угловым рассогласованиям

и

между положением наружной и внутренней рамок двухосного карданова подвеса параболического зеркала 1 и направлением вектора кинетического момента гироскопа 3. При отработке этих рассогласований устройство 11 обеспечивает гиростабилизацию направления оптической оси параболического зеркала 1 и тем самым направления линии (вектора) визирования на сопровождаемый ОВ.If in the process of searching for organic substances when implementing the detection and selection algorithms in the digital computer center 17 the necessary criteria are met, which are laid down in the corresponding algorithmic procedures, then according to the accepted logic for processing the video signal coming through the high-frequency communication line from the transceiver 14 to the input of the digital computer 17, the proposed system goes into mode active radar homing of the mobile carrier on the OB by the command "Auto-tracking" (AS), formed in TsVU 17 and issued to the device 11 and via the information line 25 in APA steering control of the movable carrier. At the same time, auto-tracking systems in range and direction are closed via a radio channel (i.e., via air). During auto tracking of the OB, the signals proportional to the values of the error (errors) are received at the input of the corresponding power amplifiers of the device 11 from the CVU 17

and

between the direction of the optical axis of the parabolic mirror 1 and the direction to the OB, which are from the outputs of the power amplifiers in the form of electric currents I _in and I _g proportional respectively to the components

and

angular velocity vector

the rotation of the parabolic mirror 1, respectively, in the horizontal and vertical planes, is fed to the windings of the corresponding moment sensors of the gyroscope 3. From the corresponding sensors of the precession angle of the gyroscope 3, then gyrostabilization signals proportional to the angular mismatches are sent to the inputs of the device 11 to the broadband gyrostabilization contours

and

between the position of the outer and inner frames of the biaxial cardan suspension of the parabolic mirror 1 and the direction of the kinetic moment vector of the gyroscope 3. When these discrepancies are worked out, the device 11 provides gyrostabilization of the direction of the optical axis of the parabolic mirror 1 and thereby the direction of the line of sight (vector) to the followed OB.

In the mode of automatic tracking of OBs in TsVU 17, algorithms are implemented for aggregating information of inertial measurement of the parameters of the target vector of sight and information of the radar channels of automatic tracking of OBs in range and direction.

The integration problem in the CVU 17 is solved according to the following algorithmic sequence:

- comparison of signals proportional to the current values of the parameters of the targeting vector in the Oxyz antenna coordinate system determined by inertial measurement, with identical signals proportional to the current values of the parameters of the vector of sighting the OB in the Oxyz antenna base coordinate system during auto tracking, which are the output signals of the angular and temporary discriminators, respectively, of OB auto-tracking devices in direction and range;

- optimal adaptive filtering, providing noise-tolerant estimation of the useful signal in each auto-tracking device (in azimuth, tilt, and range), optimal noise-resistant self-tuning of the sight vector parameters and finding an accurate estimate of the error signals;

- compensation (correction) of the relevant information of the inertial measurement of the parameters of the targeting vector using the obtained accurate mismatch estimates;

- the formation of the corrected information of the control signals in each OB auto tracking system and their development by the device 11, due to which the line of sight is combined with the OB in the direction and range.

At the same time, at the output of the CVU 17, an information array of stabilization and control of the mobile carrier is formed, which is transmitted through the information communication line 25 to the input of the control equipment of the steering drive of the carrier. Owing to this, the homing laws laid down in the proposed on-board system are realized upon location contact with airborne forces.

In the event of a breakdown in auto-tracking, i.e. in the absence of location contact with the organic substance, the proposed system goes into memory mode, homing to the stored optical coordinates is carried out according to the corrected information of the inertial measurement of the parameters of the vector of sight, i.e. on the target, the coordinates of which correspond to the coordinates of the OM at the time of failure of its auto tracking.

When you search for OB again and capture it for auto tracking, the process described above is repeated and the movable carrier of the proposed system continues to move in the direction of OB.

The radio navigation receiver 16 receives and processes external information from the satellite navigation system and forms an information array for the correction of inertial measurement of the parameters of the vector of sight, which is fed through the information line 22 to the input of the CVC 17 (Fig. 6).

Thanks to the use of this corrective information in TsVU 17, a significant increase is achieved in the accuracy of determining the parameters of the OB vector of sight, in particular, the absolute height of the mobile carrier in the search mode for OB and, accordingly, the accuracy of homing of the mobile carrier on the OB.

High-frequency devices 18, 19, 20, 21 and a dual-band transceiver 14 realize an integrated shorter wavelength than the main range of working radiation waves.

The choice of a specific operating frequency of the built-in shorter wavelength range is determined by the need to ensure the basic characteristics of the radar channel of the proposed airborne homing system for solving the tactical task of homing a mobile carrier on the final section of the trajectory under conditions of counteraction, as well as taking into account operating conditions and necessary economic indicators.

The work of the proposed on-board system in the shorter wavelength range does not differ from its work in the main range.

When switching to a shorter wavelength range of working radiation waves to ensure the main characteristics of the onboard homing system containing an irradiator of the main range of radiation waves, its range of working waves of radiation is preserved as the main one. In this case, by embedding the shorter wavelength range of the working waves of radiation in the proposed on-board homing system, the following basic requirements are met for the choice of the second (shorter wave) range of waves:

- a significant increase in angular resolution;

- increased noise immunity of the system;

- ensuring the multiplicity of half-wave ranges for the possibility of working under one common fairing, and an increase in absorption on the path of the carrier of the system in the presence of hydrometeors should not reduce the range of the system by more than 40 ÷ 70% at a nominal design range, for example 15 ÷ 20 km.

The combination of the main and shorter wavelength ranges of the working waves of radiation in the proposed on-board system provides the constructive integration of a shorter wavelength range of working waves of radiation in the device of the main range using:

- the total maximum possible aperture of the antenna (common parabolic mirror 1);

- common to both ranges of working waves control devices and stabilization of the line (vector) of sight;

- the general processing scheme of signals reflected from the irradiated S;

- identical alignment;

- common fairing;

- the general optical scheme of a parabolic mirror 1. In this case, the waveguide circuits of the high-frequency path of both ranges are made according to the hidden scanning scheme.

Thus, the proposed technical solution ensures the achievement of a positive effect, which consists in the following.

Thanks to the information of the controlled three-stage gyroscope 3, which is the sensitive and executive elements of the tracking gyro drive and the sensitive element of the inertial measurement of the parameters of the sighting vector, as well as the information of the two-channel gyroscopic angular velocity sensor 15 and three one-component linear acceleration meters 8, 9, 10 as part of the internal frame of the biaxial cardan suspension parabolic mirror 1 is implemented in TsVU 17 the algorithm of the inertial measurement of the parameters of the vector I in the antenna base coordinate system Oxyz. Signals proportional to the components of the spatial angular coordinate, determined by the inertial measurement of the parameters of the target vector of sight, which are measured relative to the optical axis of the parabolic mirror 1 and determine the mismatch between the direction of the vector of the line of sight and the direction to the target, are similar to the corresponding mismatches between the direction of the line (vector) of the line of sight and direction to the OB determined by the angular discriminator of the OB auto-tracking system in the direction. In this sense, they are identical.

Therefore, the proposed system has practically solved the problem of combining the OB auto-tracking radar channels in direction and range and inertial measurement of the target vector parameters by introducing autonomous information into the corresponding OB auto-tracking circuits using an optimal adaptive filter as a low-pass filter, which can significantly increase the dynamic accuracy (approximately 10 times) onboard homing system and its noise immunity due to narrower the bandwidth of the OB auto-tracking circuits, as well as the condition for the invariance of the dynamic error of the proposed system to trajectory changes in the input signals.

Based on the algorithm of the inertial measurement of the parameters of the targeting vector or / and airborne targets in the proposed on-board homing system, TsVU 17 has practically implemented an algorithm for determining the parameters of trajectory fluctuations and influences (deforming, vibrating, etc.) of the moving carrier body on the spatial the position of the phase center of the antenna (or / and radiation centers of the irradiators 2 and 19) relative to the reference trajectory of the moving carrier of the proposed on-board homing system and rel relative to the target and / or OM, which makes it possible to measure the parameters of the vector of sight in an offset coordinate system, i.e. when placing gyroinertial sensors 3, 8, 9, 10, 15 at a certain distance (less than 0.3 m) from the phase center of the antenna (or / and the radiation center of the probing signals). The combined processing of inertial measurement information of the target vector parameters of the target and the OB auto-tracking contour information in the direction and range allows implementing in TsVU 17 algorithms that are invariant to the moving carrier moving parameters, providing accurate estimates of the antenna phase center deviations in the direction of the target vector in range and azimuth . Due to this, the proposed on-board system solves the problem of increasing the linear resolution in azimuth and in the range of the irradiated OM.

Due to the implementation of the proposed on-board homing system of the dual-band working waves of radiation, the angular resolution of the system is increased by 4 times when using the same aperture in the built-in short-wave range as in the main range of working waves of radiation. When using the short-wavelength range of radiation waves, the effective scattering surface (EPR) of sighting objects (approximately 5-15 times) and the antenna gain (gain) (4 times) increase markedly. This increase in the ESR and the KU compensates for the main disadvantage of the short-wavelength range of the working waves of the radiation, namely, a decrease in the range in difficult weather conditions, since the attenuation along the moving path of the moving carrier, especially in the presence of hydrometeors, increases with decreasing wavelength. At the same time, in the case of the approach of a moving carrier with an OM, the range of approach naturally decreases, which reduces the negative impact of the lack of a short-wavelength range of working waves of radiation on the range of the system, even with an increase in the intensity, for example, rain to 4 mm / hour or up to 6 mm / hour.

The increased angular resolution of the proposed system, comparable with the magnitude of the detected OM, is provided by solving the problem of homing a mobile carrier on sight objects (moving or motionless) with a small EPR.

In addition, the transition from one range of working waves of radiation to another also increases the noise immunity of the proposed system in conditions of electronic countermeasures.

Due to the equality of the distances between each of the hinges placed on the parabolic mirror 1, and its center of rotation, the distance between each of the hinges mounted respectively on the outer and inner frames of the biaxial cardan suspension of the parabolic mirror 1, and the center of their rotation, the range of angles of inclination of the trajectory extends ballistic section of the trajectory of the moving carrier of the proposed airborne homing system.

The hardware implementation of the proposed on-board homing system of a mobile carrier based on inertial measurement of the parameters of the target vector of targeting and / or OV in the Oxyz antenna base coordinate system, as shown by the development of the system and its practical development, eliminates the need to use not only an expensive classical inertial navigation system as part of a mobile carrier but also a radio altimeter. Due to this, a significant volume (compartment) of the mobile carrier is freed up either to increase the payload or to increase the mass of fuel for the propulsion system of the mobile carrier.

Claims (2)

1. A method of generating stabilization and homing signals of a mobile carrier, characterized in that during pre-launch preparation of the mobile carrier, signals characterizing the initial coordinates of the target or / and the initial purpose of the object of sight (OB) are set and introduced on board the mobile carrier, form a packet in the form of signals consecutive information words containing information on the initial values of the range to the target and the approach speed of the moving medium with the target in the pre-launch position of the moving medium , the angle of inclination and azimuth of the target in the coordinate system associated with the center of mass of the mobile carrier, yaw, pitch and roll of the mobile carrier, as well as the first program range for the transition of the mobile carrier after starting to a lower trajectory and the second program range of radiation of the probe pulses, control the word and the control word, then check the generated packet for distortion in it, convert the signals characterizing the packet into a parallel form for reckoning on board the mobile carrier after the tart of the current approaching range of the mobile carrier with the target, according to the obtained value of the initial range to the target, form an OM search zone at this range, as the relative position of the mobile carrier changes to its start and target, the packet of sequential information words is continuously updated, after the launch of the mobile carrier in the absence of location contact for the purpose of measuring the longitudinal component of the vector of linear acceleration of the moving medium in a connected coordinate system on its board and perform an offline number the current range of approach of the mobile carrier with the aim of double integration of the measured acceleration at the initial values of the speed and range of approach given during the prelaunch preparation of the mobile carrier with the aim, when the mobile carrier reaches the first program range specified during its prelaunch preparation, the mobile carrier moves to a lower trajectory its movement to the target, when the movable carrier reaches the second program range, also set during its launches the first preparation, they emit sounding signals due to the creation by the antenna system of simultaneously four pairs of radiation patterns with partially overlapping lobes in two mutually perpendicular planes and, using the search command OV, search for OV by range and sector search of OV in direction, while receiving signals reflected from the irradiated OV signals located within the formed area of search for OB in range and within the sector of search for OB in direction, remember the azimuth of OB found from all found in the search sector of OB, selected according to the specified selection criteria, and the deviation of the selected OB in range from the center of the generated OB search zone is recorded, and after a full search of the search sector, a signal is generated to enable capture of the selected OB for auto-tracking in range and direction, the values of the autonomously calculated current speed and current range are corrected the approach of the mobile carrier from the OB by a value proportional to the deviation of the position of the OB from the center of the search zone in range and speed, the range of selected OBs, while the signals reflected from the irradiated OBs are received by two pairs of receiving channels, a total-difference conversion of the received signals is performed, as a result, a total ∑ signal and two differential Δ ₁ and Δ ₂ signals, which are alternately with a period of 4 T _p , where T _p is the repetition period of the emitted sounding signals, add and subtract with the total ∑ signal, form the total-difference signals

which detect and then generate signals proportional to the auto-tracking mismatch signals according to the tilt angle and azimuth, which are components of the spatial angular coordinate of the irradiated optical radiation in the antenna coordinate system, and also generate control signals proportional to the components of the angular velocity vector of the line of sight rotation in the direction OM, respectively, in the vertical and horizontal plane in the horizontal coordinate system, which integ comfort, and combine the line of sight with the OB, while registering signals proportional to the deviation of the line of sight of the OB in the angle of inclination and in azimuth relative to the housing of the mobile carrier, the vehicle is automatically guided in the direction, and signals are generated from the received signals to stabilize the mobile carrier from its vibrations relative to the center of mass and for homing the mobile carrier on the OB, while pre-launch preparation of the mobile carrier, in addition to setting the initial coordinates of the target or / and the initial target OB values, form the initial conditions for the exhibition of inertial measurement of the parameters of the targeting vector in the form of signals characterizing a packet of sequential information words containing the initial values of the projections of the linear velocity vector of the prelaunch movement of the moving medium on the corresponding coordinate axes of the horizontal coordinate system with the beginning in the center of mass of the moving medium, Cartesian coordinates of the target, geographic longitude and geographic latitude of the mobile carrier when it starts, transform specified initial conditions for the inertial measurement of the parameters of the target’s vector of sight into signals proportional to the projections of the linear velocity vector of the prelaunch movement of the mobile carrier onto the corresponding coordinate axes of the base antenna coordinate system, into signals proportional to the target’s viewing angles in the horizontal plane and in the vertical plane in the horizontal coordinate system in signals proportional to the components of the spatial angular coordinate of the target in the base ant coordinate system, into signals proportional to the direction cosines that determine the initial relative position of the base antenna of the coordinate system and the reference geocentric coordinate system, connected by its own coordinate axis with a fixed target and / or with an optical axis located on the earth's surface, at the time of the start of the moving carrier they measure signals proportional to the projections of the apparent linear acceleration vector and the projections of the absolute angular velocity of rotation of the antenna mirror on the corresponding the coordinate axes of the base antenna of the coordinate system associated with the antenna mirror, using these measured signals taking into account the variable electric reduction between the angle of rotation of the antenna mirror and the angle of rotation of the line of sight, determine the signals proportional to the projections of the apparent linear acceleration vector and the projections of the absolute angular velocity of the vector target sighting on the corresponding coordinate axes of the base antenna coordinate system, is formed according to the received signals taking into account the signals, that are measuring the initial coordinates of the target and the initial conditions of the exhibition of inertial measurement of the parameters of the vector of sight, signals proportional to the current values of the parameters of the vector of sight of the target, namely, the projections of the vector of the absolute linear velocity of convergence of the moving carrier with the target on the corresponding coordinate axes of the base antenna of the coordinate system, inclined range and inclined speed rapprochement of a mobile carrier with a target, components of the spatial angular coordinate of the target in the base antenna system the direction of the cosines of the relative angular position of the base antenna coordinate system and the reference geocentric coordinate system, in the absence of location contact with the OB, the received signals are proportional to the corresponding current values of the target vector of the target, into control signals that rotate the antenna mirror in the angle of inclination and in azimuth, which is then converted, taking into account the variable electric reduction, into the angles of rotation of the vector of sight in the angle of inclination and in azimuth relative to the housing of the mobile carrier until its direction is aligned with the direction to the target and before the mobile range gate is aligned with the target, they generate signals proportional to the rate of change of the target’s viewing angles in the horizontal and vertical plane in the horizontal coordinate system, as well as signals proportional to the rate of change the angle of inclination and azimuth of the target in a connected coordinate system, convert signals proportional to the projections of the absolute angular velocity vector of rotation of the base antenna coordinate systems, into signals proportional to its projections onto the corresponding coordinate axes of the associated coordinate system, from the received signals they generate signals proportional to the measurement speed, respectively, of the yaw, pitch, roll of the mobile carrier, which generate signals proportional to yaw, pitch, roll, taking into account their initial values obtained during the prelaunch preparation of the mobile carrier, at the same time determine the signals proportional to the projections of the angular acceleration vector of the moving carrier to the corresponding coordinate axes of the associated coordinate system, then the received signals form the stabilization signals of the moving carrier from its vibrations relative to its center of mass in the horizontal plane, in the vertical plane and along the roll, as well as homing signals of the moving carrier to the target, proportional to the overloads of the moving carrier in the vertical and horizontal plane, convert the received information into control signals, which are transmitted in the form of an information array stabilization and control via the information line of communication to the external equipment for controlling the steering drive of the mobile carrier, upon reaching the value of the inclined range of proximity of the mobile carrier with a goal equal to the value of the inclined range of possible location contact with the OB, sequentially probe signals are emitted first of the main wave range and then the built-in shorter wavelength wavelength range according to the accepted OB search logic, while the frequency of the shorter wavelength range exceeds by an even number As many times as the frequency of the main wavelength range, the linear polarization of the built-in shorter wavelength wavelength range is orthogonal to the linear polarization of the main wavelength range, and the lines of sight of the built-in and main radiation channels are aligned with each other and with the initial alignment of both radiation channels with the building axes of the mobile carrier, and control by the direction of the combined line of sight, the antennas of the main wave range are worked out with the same mirror drive, and a sector search is performed in the direction and search for RW in range, receive signals reflected from the irradiated RW in the range of the search for RV in the direction and in the search zone for RV in the range, detect, select and capture the RW selected from all over the main or built-in shorter wavelength range of OM detected in the search sector according to the accepted selection criteria, for auto-tracking in range and direction, the received high-frequency signals received from the irradiated OB are combined as a result of the primary processing The waves along the main and built-in wavelength ranges are subjected to secondary processing of the received signals; as a result, they form signals along the main and built-in radiation channel, which are proportional to the components of the spatial angular coordinate of the optical wave and the slant range to the optical wave in the antenna coordinate system, while using signals proportional to the measured the values of the projections of the apparent linear acceleration vector and the projections of the vector of the absolute angular velocity of the rotation of the targeting vector to the corresponding coordinate the axis of the base antenna of the coordinate system, fixed at the time of the beginning of the search for the OB for a given resolution time interval, taking into account the linear displacement of the phase center of the antenna relative to the center of the sensitivity axes of the measurement of the projections of the apparent linear acceleration vector and the projections of the absolute angular velocity vector of the target vector of sight and / or OB they determine signals proportional to the parameters of the trajectory fluctuations and the effects of the housing of the mobile carrier on the spatial position of the phase center Relative to the target and / or OM, they measure signals proportional to the motion parameters of the aperture relative to the target and / or OM, which are the parameters of the trajectory signal, in a coordinate system offset from a fixed base antenna of the coordinate system, these signals generate a signal proportional to the phase of the reference function , which is a function of the module of the target vector of sight or / and the OM in the shifted coordinate system at the time of the beginning of the search for the OB, as well as the speed of its change and acceleration during the search for the OB, then the received signal, proportional to the phase of the reference function, is determined by a signal proportional to the phase correction, which compensates for the trajectory instability of the antenna phase center in the received signals and the action of the moving carrier body moving along the trajectory during auto-tracking of the OB in direction and range comparing the generated signals proportional to the current parameter values target sighting vectors in the base antenna coordinate system, namely, components of the spatial angular coordinates The dates of the target and the inclined approach distance of the moving carrier with the target, respectively, with the identical OB auto-tracking signals in direction and distance proportional to the current values of the OB vector of the sight vector in the base antenna coordinate system, perform optimal adaptive noise-resistant filtering of the corresponding comparison signals, generate signals proportional to the exact estimates of the corresponding comparison signals obtained as a result of optimal adaptive filtering, with the help of which correct signals proportional to the current values of the target vector of the target, and then, using the signals obtained as a result of the correction, control signals are generated that rotate the antenna mirror in tilt and azimuth, which are then converted, taking into account the variable electric reduction, into rotation angles line of sight along the angle of inclination and in azimuth relative to the housing of the movable carrier before combining it with the direction to the OB, when auto-tracking the OB by distance filtered The mismatch signal is integrated over time and signals proportional to the slant range and the velocity of approach of the mobile carrier with the OB are received; at the same time, signals proportional to the rate of change of the viewing angles of the OB in the horizontal and vertical planes in the horizontal coordinate system are generated; of its center of mass in the horizontal plane, in the vertical plane and along the roll, homing signals of the mobile carrier on The proportional accelerations respectively in the horizontal and in the vertical plane, convert these signals to the steering actuator control signals for the mobile carrier stabilizing and homing to the movable carrier according to the received OM homing law. 2. An onboard homing system for a mobile carrier, including a parabolic mirror of the antenna device, a multi-channel irradiator with linear polarization of the main wavelength range, a biaxial cardan suspension, a controlled sensitive and actuating element of a tracking gyro drive, a rotation angle sensor of the outer frame of a biaxial cardan suspension, a rotation angle sensor of the inner frame of a biaxial cardan suspension, three one-component linear acceleration meters, directional control device and gyro stabilization and sightings, the sum-difference converter (SRP) of microwave signals and the waveguide-switching device (VKU) of the main wave range, a two-channel gyroscopic angular velocity sensor (DLS), a radio navigation receiver-meter, a digital computing device, a small hyperbolic trellis mirror, a multi-channel irradiator shorter wavelength range compared to the main range, PSA and VKU microwave signals of a shorter wavelength range, dual-band transceiver For the main and shorter wavelength ranges, the parabolic mirror being rotatable relative to the center of radiation of a stationary multichannel irradiator with linear polarization, mounted on the basis of an antenna device mounted rigidly on the housing of the movable carrier, and connected by articulated rigid rods, respectively, with the inner and outer frames biaxial gimbal suspension, in the inner frame of which is mounted controlled sensitive and executive e gyro follower element, rotation angle sensor of the outer frame of the biaxial cardan suspension mounted on the housing of the movable carrier and mechanically connected with its axis of rotation, the rotation angle sensor of the inner frame of the biaxial cardan suspension mounted on the outer frame and mechanically connected with the axis of rotation of the inner frame, the direction control device and gyrostabilization of the line of sight is mechanically connected respectively with the axis of rotation of the outer and inner frames of the biaxial cardan suspension, the inputs of which are connected respectively, with the outputs of the controlled sensing and actuating element of the tracking gyro drive, the two control inputs of which are connected to the outputs of the direction control and gyrostabilization device of the line of sight, the SRP of microwave signals of the main waveband is connected to the multichannel irradiator of the main waveband, the outputs of the SRP of microwave signals of the main waveband through the main circuit wave range connected to the corresponding inputs of the dual-band transceiver, and at the control inputs switching of the microwave device included in the VCU of the main wave range, scanning signals are received, the TLS is installed in the inner frame of the biaxial cardan suspension so that in the locked position one of its sensitivity axes coincides with the zero direction of the line of sight of the antenna device, and the kinetic moment of the gyroscopic rotor The CRS coincides with the positive direction of the axis of rotation of the outer frame, while three one-component linear acceleration meters are installed in the inner frame of the biaxial cardan suspension, and the sensitivity axis of one of them is mutually orthogonal with respect to the mutually orthogonal axes of sensitivity of the other two one-component linear acceleration meters, while the sensitivity axis of one of the three one-component linear acceleration meters coincides in the caged position with the zero direction of the line of sight, the distance between each of hinges of rigid rods placed on a parabolic mirror and the center of rotation of the parabolic mirror is equal to the distance between each of hinges mounted respectively on the outer frame and on the inner frame of the biaxial cardan suspension, and the center of rotation of these frames, a small hyperbolic lattice mirror is made with a diameter several times smaller than a parabolic mirror and installed using stationary waveguides based on the antenna device, one from which foci, which is distant to the main parabolic mirror, coincides with the focus of the parabolic mirror, in another focus of the small hyperbolic lattice of this mirror, which is closest to the main parabolic mirror, the center of radiation of a fixed multichannel direct-irradiator of the main wave range with linear polarization coincides with the direction of the conductors of the grating of a small hyperbolic mirror, the radiation center of a multichannel direct irradiator is installed in the far focus of a small hyperbolic grating irradiation of a shorter wavelength range, compared with the main wave range, with a linear polar orthogonal with respect to the direction of the conductors of the grating of a small hyperbolic mirror, which is rigidly connected to the base of the antenna device using fixed waveguides, connected to the PSA of microwave signals of a shorter wavelength range, which is connected to the VCU of the shorter wavelength range of the waves, controlled by the scanning signals, the corresponding inputs of the dual-band transceiver using waveguides connected to the outputs of the VCU shorter wavelength range, while the outputs of three single-component linear acceleration meters, the outputs of the angle sensors respectively of the outer and inner frames of the biaxial cardan suspension, the outputs of the two-channel gyroscopic TLS, the outputs of the direction control device and gyro stabilization of the line of sight, as well as the video signal output of the dual-band transceiver are connected to the corresponding inputs of the digital computing device, and the outputs of the error signals auto tracking along the tilt angle and azimuth of the digital computing device s with the corresponding inputs of the direction control and gyrostabilization device of the line of sight, the information input of the digital computing device is connected by the information line of communication with the radio navigation receiver of the signals of the satellite navigation system, while the information line of the inertial measurement parameters of the target vector of the target is received through the information line of the digital computing device , another information input of a digital computing device with connected to the information line with external equipment for the preparation and control of the launch of the mobile carrier of the onboard homing system, while the information line of the digital computing device receives the information array of the prelaunch initial destination OB and the initial exhibition of inertial measurement of the parameters of the target sight vector, and one of the information outputs digital computing device on the information line of communication issued an information array of commands and signals from systematic way of high-frequency part of the onboard seeker system, and other digital data output coupled to the computing device an information communication line with an external apparatus controls the steering drive of the movable carrier.

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