RU2365852C1 - Missile guidance method - Google Patents

Abstract

FIELD: arms.

SUBSTANCE: proposed method comprises measuring the range to target, determining direction linear speed the aiming line changes at. Distance to target is measured allowing for measurement errors and time passed after range finding. Aiming line is shifted towards lower departure with linear speed directly proportional to linear crosswise speed and inversely proportional to the sum or difference.

EFFECT: reduced, by 25 to 30%, error of aiming line stabilisation and 10 to 15%-higher efficiency of fire in conditions of interferences.

Description

The invention relates to military equipment, and more specifically, to methods for guiding guided missiles, in particular, installed as part of guided missile systems both on ground installations and at various objects, such as, for example, tanks, infantry fighting vehicles, self-propelled launchers installations, helicopters, etc.

Aiming shells and guided missiles during their flight can significantly improve the accuracy of weapon systems installed both on the ground and on various moving carriers. The firepower of such vehicles also increases significantly due to the addition of conventional weapons (artillery or small arms) with guided missile weapons.

Currently, various methods of guiding guided missiles and shells are known. The effectiveness of the weapon system of the combat vehicle as a whole depends on the effectiveness of the guidance method.

There is a method of pointing guided missiles of the first generation, which consists in pointing the aiming line at the target, the eye measuring the deviation of the guided missile from it, affecting the missile controls in accordance with these deviations before combining the guided missile with the target (see, for example, A.N. Latukhin, Anti-tank weapons, - M .: Military Publishing House, 1974, p.192-236). The first generation includes guided (anti-tank) missiles with manual guidance systems. The first-generation ATGMs and their guidance methods have obvious drawbacks: the low speed of the missile’s movement, realized in them, and, consequently, a very long flight time (20-25 s), the presence of an unaffected zone in front of the firing position 300-600 m deep, low rate of fire compared with other anti-tank weapons and others. Training personnel in shooting rules and practical skills is very expensive and difficult, since manual control requires rigorous selection and thorough training of operators. The low flight speed of the rocket requires the operator to continuously monitor the rocket and the target and control the rocket along the entire trajectory. Therefore, gunners (operators) ATGM are subject to strict requirements. For training and periodic training of guided missile gunners with a manual guidance system, sophisticated electron-optical simulators are required. In addition, with this control method it is practically impossible to eliminate one of the main disadvantages: the low flight speed of the guided missile. The fact is that with an increase in the flight speed of the rocket, the work of the gunner is greatly complicated, since control is usually carried out using commands based on the relative position of the rocket and the target. The gunner physically does not have time to timely respond to changes in the direction of flight of a high-speed rocket. He also experiences significant difficulties in bringing the rocket to the line of sight. In order to avoid pecking the rocket on the ground near the launcher (firing object), the latter give a significant elevation angle. As a result, a non-firing zone of 600-700 m in size is formed (see above). In addition, under these conditions shooting from mobile carriers is practically excluded, especially when maneuvering them.

There is also a known method of guiding a guided missile of a complex of guided missile weapons 9K112-1 "Cobra" (see, for example, the armament complex of a tank - T-64B. Textbook materials, M., VABTV, 1977, p.8-51), which is the most close in technical essence to the claimed and accepted for its prototype. At the same time, it is also the basic object of the proposed method.

The guidance method of guided missile complex 9K112-1 "Cobra" is the formation of a stable aiming line and combining it with the goal, measuring the guidance system deviation of the guided missile during its flight from the aiming line, the automatic formation and transmission of control commands corresponding to this deviation to the missile, automatically generating and applying to the rocket controls a signal corresponding to this command.

This method differs from the previous one in that the gunner (operator) conducts continuous tracking of the target, combining the aiming line with it, and tracking the missile, measuring its deviations from the aiming line, generating and transmitting commands on board the flying rocket, and then on it controls are made by the guidance system automatically. This method in comparison with the previous one provides (see ibid.):

increase in missile flight speed up to 220-500 m / s;

reducing the flight time of the rocket to the maximum range;

reduction of the "dead zone" to 75 m or less from the firing position;

higher efficiency and stability of firing results in various situations of anti-tank combat;

simplification of the operator’s work (its functions are reduced only to combining the aiming line with the target, and control commands are generated and transmitted to the missile automatically), which increases the accuracy of shooting and minimizes the impact on the results of the individual operator’s data, as well as provides firing from mobile carriers;

facilitating the selection of operators, simplifying the process and reducing the cost of training.

However, this method also has disadvantages. The need for a long-term retention of the line of sight on the target leads to the danger of losing it when light or dust noise appears in the gunner’s field of vision. The presence on board the rocket of a powerful light source, necessary for the formation of light feedback and a closed control loop, makes it difficult for the gunner to track the target, exacerbating the effect of light interference. All this, even if the rocket is saved and its flight to the target, leads to a significant increase in target tracking errors due to the gunner’s difficulty in compensating for deviations of the aiming line (sighting mark) from the target caused by maneuvering the mobile carrier. This is because the stabilization line of the aiming line in the prototype measures and compensates only the angular deviations of the aiming line from the angular direction set by the gyroscopic sensor to the target and does not respond to linear movements of the aiming line along with the carrier (tank). The operator is not able to compensate for them in a timely manner, especially in conditions of interference and interruptions in the visibility of the target.

The proposed method allows to practically eliminate the inherent prototype disadvantage.

The objective of the present invention is to increase the guidance efficiency of a guided missile by increasing the accuracy of stabilization of the aiming line by compensating for errors caused by linear displacements of the aiming line (sighting mark) in the firing picture plane (in a plane perpendicular to the firing plane).

This problem is achieved by the fact that in the method of guiding a guided missile at a target, which consists in forming a stabilized aiming line and combining it with a target, measuring with a guidance system the deviation of a guided missile from the aiming line during its flight, automatically generating and transmitting to the missile a control command corresponding to this deviation, the automatic generation and supply to the rocket controls of a signal corresponding to this command, additionally measure the distance to the target, determines t caused by maneuvering the carrier, its course angles of movement relative to the target in horizontal and vertical planes, the direction and magnitude of the linear transverse velocity of the deviation of the aiming line, changing the distance to the target, taking into account equipment errors and time from the moment of measuring the range, move the aiming line towards decreasing the deviation from the angular speed corresponding to the expression

where ω is the angular velocity of the line of sight,

To _p - the coefficient of proportionality,

V _lp ^- linear transverse velocity of the line of sight,

D _about - the initial range to the target,

To _to - the coefficient of compensation of errors of equipment,

“+” - with increasing distance between the carrier and the target,

“-” - when reducing the distance between the carrier and the target,

V _n - linear velocity of the carrier,

Δt _n - change in the time of movement of the carrier, measured from the input D _about to achieve the missile-controlled target

g _g - heading angle of the carrier in the horizontal plane,

g _in - heading angle of the carrier in a vertical plane.

Implementation (work) of the proposed method is as follows. When firing from a moving carrier (tank), the linear speeds of the aiming line in the transverse plane can be measured in various ways. For example, using sensors of linear acceleration of a carrier (tank) in appropriate directions. To reduce errors due to angular accelerations of the carrier, linear acceleration sensors should provide information about the accelerations operating in the region of the aiming mark, and therefore should be installed in close proximity to the head of the sight. To obtain information about the linear velocity, the signals taken from the outputs of the linear acceleration sensors are integrated. If, after measuring the range and until the target is guided by the missile, the carrier maneuvers for a long time, then the value of the entered range D _o must be adjusted. For this, it is necessary to measure the speed of the carrier and its heading angles of movement in horizontal and vertical planes. This can be achieved through the use of a standard carrier speed sensor (speedometer) and the installation of angle sensors in the respective planes. Changing the distance ΔD in this case will be determined by the expression V = ΔD _n Δt _n cosg _g cosg _in, and the corrected distance (actual) D _d - D expression _d = D _a ± K _to V _n Δt _{n r} cosg _in cosg. It should also be noted that with an increase in the time of maneuvering the carrier from measuring and entering the range Д _о until reaching the missile-guided target Δt _n , errors in equipment that implement the determination and input of the ΔД value into the guidance system increase. In order to compensate for these errors, for each guidance system, the compensation coefficient K _{k is} experimentally determined and introduced into the equipment (see expression 1).

By dividing the magnitude of the signals corresponding to the linear velocity V _lp by the value of the adjusted (actual) range to the target, signals are obtained whose magnitude corresponds to the angular velocity of the deviation of the aiming mark from the target. By applying this signal to the input of the gyroscopic drive of the stabilizer of the aiming line with the opposite sign, move the aiming line in the direction of decreasing the deviation with an angular velocity corresponding to expression (1).

Getting to the input of the gyroscopic drive aiming the stabilizer of the aiming line, the compensating signal causes the aiming line to deviate by an angle that compensates for the linear movement of the aiming mark relative to the target at this (measured and refined) range.

The proposed method contains features other than the prototype shown in the characterizing part of the claims.

In this regard, the proposed method has novelty.

In the proposed method, as in the prototype, angular stabilization of the aiming line by means of the stabilizer of the aiming line is carried out, however, in addition, the method provides for the introduction of additional control of the aiming line (aiming mark) by signals, for example, linear acceleration sensors of the carrier through the drive of the aiming line stabilizer, which allows you to compensate for the error component from linear movements of the reticle relative to the target at the corresponding (measured) range. The listed set of features is absent in the analogues and allows you to get a new quality that does not match the known solution. Based on this, we can conclude that the proposed method has significant differences from the prototype. The possibility of implementing the proposed method is not in doubt and can be implemented with planned upgrades of the prototype at manufacturing enterprises and repair enterprises of serial production.

, то есть уменьшить погрешность стабилизации линии прицеливания на 25-30%.The effectiveness of the proposed method was evaluated according to the test results of a serial tank. When moving at a speed of 25-30 km / h, the mean square value of vertical linear displacements of the aiming line was 0.15 m, which for a range of 1500 m corresponds to an angular error of the aiming mark of 0.1 mrad. With the mean square value of the total error equal to 0.15 mrad, the implementation of the proposed method will allow to obtain:

, that is, to reduce the error of stabilization of the aiming line by 25-30%.

Using the proposed method of guided missile guidance allows you to get a number of other positive results. Guiding a guided missile in this case increases the reliability of the capture and guidance of the missile, and also increases the noise immunity of the system, since with a short-term loss of visibility of the target due to light or dust interference, the stabilization of the aiming line, and with it the probability of a missile entering, remain high enough .

Claims (1)

A method of guiding a guided missile at a target, including forming a stabilized aiming line and aligning it with the target, measuring the deviation of the guided missile from the aiming line during its flight by the guidance system, automatically generating and transmitting a control command corresponding to this deviation to the missile, automatically generating and applying to rocket controls for the signal corresponding to this command, characterized in that they measure the distance to the target, determine the carrier caused by maneuvering its course angles of movement relative to the target in horizontal and vertical planes, the direction and magnitude of the linear transverse velocity of the deviation of the aiming line, measure the distance to the target, taking into account measurement errors and time from the moment of measuring the range, move the aiming line in the direction of decreasing the deviation with an angular velocity directly proportional linear transverse velocity of deviation of the line of sight and inversely proportional to the amount or difference corresponding to an increase or decrease in the distance between do carrier and target, the initial range to the target and its increment.