RU2381524C1 - Tracking system for mobile objects - Google Patents

Abstract

FIELD: physics; navigation.

SUBSTANCE: tracking system for mobile objects in space can be used for air traffic control. The result is achieved due to that, the tracking system which has functionally connected location and optical-electronic position finders, mode logic generator, smoothing filter, first adder, first guiding and stabilisation device, and the location and optical-electronic position finders are mechanically connected together and are kinematically linked to the output shaft of the first stabilisation and guiding device, also includes an automatic tracking device, a gyroscopic angle sensor, a device for measuring speed of position finders, two radio-frequency units mounted on the pipe of the turret mounting, a device for processing signals of the radio-frequency units, a computing unit and a second stabilisation and guiding device. Stable tracking is provided through selection of structures of the location and optical tracking systems. For precision striking of the tracked target on the measured flight speed of shells from the bore, the computation unit calculates the angle of lead which is summed with the guidance angle of the position finder and used in the second stabilisation and guiding device which tracks movement of the position finders for precise striking of the target by missiles.

EFFECT: more stable tracking of a mobile object and accuracy of shooting a maneuvering target.

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Description

The invention relates to automatic regulation, is intended for systems of automatic monitoring and tracking of moving objects in space mainly from a swinging base and can be used to control air traffic.

Known television-optical tracking system with a tracking strobe containing a television camera, a video signal processing device, a resolving device, a guidance drive [1] (Barsukov FI, Velichkin AI, Sukharev AD Television systems of aircraft. - M .: Soviet Radio, 1979.- 256 p., P. 232, fig. 7.17, analogue).

The disadvantage of this television system is the lack of accuracy in tracking targets from a moving base due to the lack of a stabilization system for the optical line of sight and, as a result, the dynamic inertia of the actuator and the electronic tracking circuit. This system is not capable of automatically capturing an object for auto tracking.

Also known is the television-optical system [2] (Gryazin GN, Optoelectronic systems for space viewing: Television systems. L., Mechanical engineering, Leningrad branch. - 1988, p. 8, 9, Fig. 4, analogue) comprising a television sensor in series, a signal amplification and processing device, a computing device (together forming a direction finder), and an actuator. The executive body, which performs the functions of the guidance and stabilization unit, is kinematically connected with the optoelectronic (television) direction finder sensor.

In the known system, the transition to automatic mode is carried out by preliminary deploying the direction finder to the target intended for tracking so that it is within the capture window within the field of view. However, with increasing angular velocities and acceleration of target sighting, the probability of transition to the automatic tracking mode decreases. This is due, on the one hand, to a decrease in the contrast of the image of a target moving relative to the raster (see Gryazin G.N. Optoelectronic systems for viewing space: Television systems. L., Mechanical engineering, Leningrad branch. - 1988, pp. 209-212 ) On the other hand, if the preliminary direction finder is carried out in a semi-automatic mode with the participation of a human operator, errors in tracking the high-speed target by the operator increase due to the limited dynamic characteristics that lead to unacceptable transients in the optoelectronic system that cause auto-tracking failure [3] (Tsibulevsky I.E. Man as a link in the tracking system .-- M., Science, 1981. - 288 p.).

The disadvantage of optical tracking systems is their high sensitivity to weather conditions and optical interference, such as atmospheric haze, fog, smoke and dust interference, illumination from bright light sources, etc., due to the operation of the camera in the visible spectrum.

Also known is a tracking radar containing a transmitter, a receiver, a series-connected antenna, an irradiator rotation motor, a reference voltage generator, an error signal isolation unit, a guidance and stabilization device [4] (Dynamics of servo drives. / Ed. By L. V. Rabinovich. - M.: Mechanical Engineering, 1982.- 496 p., P. 132, Fig. 2.26); [5] Radar devices. / Ed. V.V. Grigorina-Ryabova. - M .: Soviet radio. - 1970, p. 570, fig. 21.12, analogue).

The disadvantage of the radar is its sensitivity to electronic radiation and the difficulty of working at low elevation angles due to the proximity of the underlying surface.

Closest to the technical essence of the invention is the known integrated location-optical automatic tracking system for moving objects with a given accuracy, mainly from a moving base, which consists of a series-connected optical-electronic direction finder, an optical-electronic control unit, which is free from the main disadvantages of television and radar systems. systems connected in series to automatic tracking devices, a digital instrument system, with holding a series-connected code-voltage converter, a second switch that integrates the drive and mechanical transmission, the second output of which is connected to the second input of the code-voltage converter and a guidance and stabilization device that includes a stabilized coordinate converter in an unstabilized, instrument tracking system coordinate converter and a guidance and stabilization drive, as well as a signal correction unit for setting the speed of the instrument tracking system a coordinate generator, the input of which is connected to the second output of the instrument tracking system of the coordinate transformer, and the output is connected to the second input of the guidance and stabilization drive, the tracking circuit of the output signal of the automatic tracking device behind the output of the guidance and stabilization device, which contains the first comparison unit in series, the path generation unit tracking, the first switch and the second comparison unit, and an additional converter of unstabilized coordinates to stabilizer Bathrooms. Locating and optical-electronic direction finders are mechanically interconnected and kinematically connected to the output shaft of the guidance and stabilization device, and their second outputs are connected respectively to the first and second inputs of the mode logic generator, the first and second outputs of which are connected respectively to the control inputs of the first and second switches. In this case, the second output of the location-finding direction finder is connected to the second input of the second comparison unit, the output of which is connected to the input of the automatic tracking device, and the output of the automatic tracking device is simultaneously connected to the first input of the first comparison unit, the second output of the guidance and stabilization device is connected to the input of an additional converter of unstabilized coordinates stabilized, the output of which is connected to the second input of the first comparison unit, and the output of the optics control unit -electron system connected to the second input of the second switch.

The automatic tracking device comprises a first integrator, a comparison unit, a second integrator connected in series, and a reinforcing element connected in input to the input of the first integrator, and the output to the second input of the comparison unit, the input of the automatic tracking device is the input of the first integrator, and the output is the output the second integrator [6] (RF patent, No. 2321020, IPC 7 G01S 13/66, G01S 17/66 - prototype).

In the known location-optical automatic tracking system, direction finders are switched during tracking of moving objects without loss of tracking accuracy, as well as smooth direction-finder motion without jumps and hesitations, which eliminates the phenomenon of “blurring” of the image on a video monitoring device and disrupts auto tracking by a television direction finder.

These known guidance systems (analogue, prototype) are intended to accompany the target. When using a tracking system to accompany the target when firing at the target with cannon weapons, auto-tracking failures are possible due to the possible transition of direction finders to tracking another object from direction finders in sight. Disruption of auto tracking is associated with deteriorating noise immunity of direction finders when firing cannon weapons (smoke and dust interference and bright plasma during a flash from a shot, significantly exceeding target parameters in the background). Known tracking systems when they are implemented in accordance with the analogue and prototype also do not provide the exact hit of shells in the maneuvering target and the execution of the fire task of hitting the target.

The objective of the invention is to increase the accuracy and stability of target tracking, the noise immunity of the tracking tracking system, the accuracy of firing at an accompanied maneuvering target when performing fire missile targets with cannon weapons.

The solution to this problem is achieved due to the fact that in the tracking system of tracking moving objects, containing mechanically connected location and optoelectronic direction finders, the first outputs of which are connected respectively to the first and second inputs of the shaper mode logic, providing the transition tracking of moving objects from the location mode to optical and vice versa, the control unit of the optoelectronic system, the input of which is connected to the second output of the optoelectronic direction finder, automatic device tracking of moving objects, the first transducer of unstabilized coordinates to stabilized and the first guidance and stabilization device, containing the first transducer of stabilized coordinates to unstabilized and a first drive of guidance and stabilization in series, and the output shaft, which is the first output of the first drive of guidance and stabilization, is kinematically connected with location-based and optoelectronic direction finders; the first adder smoothing fil tr, mechanically connected with direction finders, a gyroscopic angle sensor, the input of which is connected to the output of the control unit of the optoelectronic system, and an angular velocity meter, the outputs of the gyroscopic angle sensor and angular velocity meter are connected respectively to the first and second inputs of the first adder, the output of which is connected to the second input of the first first guidance and stabilization, the first and second radio frequency units representing radars operating in continuous radiation and reception, after An additionally connected signal processing device for generating data from a Doppler signal for calculating the initial velocity of the projectile, a computing unit for calculating the initial velocity of the projectile, its deviation from the table value, calculating the correction for changing ballistic conditions of firing and the lead signal, and a second pointing device and stabilization, containing in series connected the second transducer of stabilized coordinates to unstabilized and the second pr guidance and stabilization water, the output shaft of which is kinematically connected with a tower installation, on which a platform with optoelectronic and location-based direction finders is installed, while the first and second radio-frequency units are placed on the gun barrels of the tower installation, the second output of the location-based direction finder is connected to the input of the smoothing filter, the output of which is connected to the input of the first transducer of unstabilized coordinates to stabilized, the output of which is connected to the automatic tracking device is movable x objects, the output of which is connected to the input of the first transducer of stabilized coordinates into unstabilized, the outputs of the first and second radio frequency blocks are connected respectively to the first and second inputs of the signal processing device, the third input of which is connected to the first output of the modeler, the second output of which is connected to the third input the first drive guidance and stabilization, the second and third inputs of the computing unit are connected respectively to the second output of the first drive guidance and ilizatsii and third output direction finder radar.

The radio frequency unit comprises a series-connected high-frequency generator, a phase modulator, a power amplifier and a transmitting antenna, a series-connected receiving antenna, a high-frequency converter, a low-frequency converter and a Doppler frequency filter, as well as a modulating frequency generator, and the second output of the high-frequency generator is connected to the second the input of the high-frequency converter, and the output of the modulating frequency generator is simultaneously connected to the second inputs of the phase modulator and a low-frequency converter, while the input of the RF block is the receiving antenna, and the first and second outputs are the transmitting antenna and the output of the Doppler filter

The computing unit contains a corrector, a second adder and a second converter of unstabilized coordinates to stabilized, and a lead signal generating unit, the first input and output of which are connected respectively to the second and third inputs of the second adder, with the first, second and third inputs of the computing unit are, respectively, the input of the calculator of correction, the second input of the second adder and the second input of the generating unit of the lead signal, and the output is the output of the second a converter in stabilized coordinates stabilized.

The first guidance and stabilization drive contains serially connected correction unit, a switch, a controllable drive and a mechanical transmission, the second output of which is connected to the second input of the correction unit, while the first, second and third inputs of the first guidance and stabilization drive are respectively the first input of the correction unit, the second and control inputs of the switch, and the first and second outputs - the output shaft and the output of the mechanical transmission.

The parameters of the transfer functions of the smoothing filter are determined by the spectral composition of the noise and the useful signal of the location-based direction finder, and for the automatic tracking device, by the required accuracy characteristics of the control system of the location-based direction finder.

As an illustration, the drawings show: FIG. 1 is a functional diagram of a proposed tracking system for one control channel, FIG. 2 is a block diagram of a unit on a product, FIG. 3 is a vector meeting triangle, FIG. 4 is a functional diagram of a radio frequency block, FIG. .5 is a functional diagram of a computing unit; FIG. 6 is a functional diagram of a first guidance and stabilization drive.

The tracking tracking system consists of location 1 (LPL) and optoelectronic 2 (OEPl) direction finders, a mode shaper 3 (FLR), a control unit of the optoelectronic system 4 (BUOES), serially connected devices for automatic tracking of moving objects 5 (UAS) and a first transducer of the coordinate system origin in unstabilized stabilized 6 (PC1 _H-C), the first adder 7 (C1) of the guidance device 8 and stabilization (UNS1) comprising series-connected first transducer coordinates of stabilized coordinate system unstabilized 9 (PC1 _C-H) and the first drive guidance and stabilization 10 (PNS1), the smoothing filter 11 (SF), a gyro 12 (CDB) of the angle sensor measuring the angular velocity 13 (ISC), the first 14 (RB1) and the second 15 (RB2) of the radio frequency blocks connected in series to the signal processing device 16 (SLD), the computing unit 17 (WB) and the second guidance and stabilization device 18 (ONS2) containing the second stabilized coordinate converter 19 (PK2 _С-Н ) and the second guidance and stabilization drive 20 (ПНС2) installed on the tower installation 21 (БУ).

The radio frequency unit contains a series-connected high-frequency generator 22 (HHF), a phase modulator 23 (FM), a power amplifier 24 (PA) and a transmitting antenna 25, serially connected to a receiving antenna 26, a high-frequency converter 27 (HPF), a low-frequency converter 28 ( ELF), a Doppler frequency filter 29 (PFD), as well as a modulating frequency generator 30 (GMP).

The computing unit contains series-connected calculator amendments 31 (VP), a second adder 32 (C2) and a second converter of unstabilized coordinates to stabilized 33 (PK2 _Н-C ), as well as a lead signal generation block 34 (BVSU).

The first guidance and stabilization drive contains a correction unit 35 (BC), a switch 36 (Kom), a controllable drive 37 (UP) and a mechanical transmission 38 (MP), the second guidance and stabilization drive has a functional composition similar to the first guidance and stabilization drive.

All used components of the combined tracking system are known or can be obtained from known devices by combining them by known methods.

Optoelectronic direction finder can be performed, as described in [1], (Barsukov FI, Velichkin AI, Sukharev AD Television systems of aircraft. - M., Soviet Radio, 1979). A location-based direction finder can be taken similarly [7] (Maksimov MV, Gorgonov GI Radio-electronic homing systems. - M., Radio and communications, 1982, p. 219, Fig. 6.1), you can also use a laser location installation. The automatic tracking device can be implemented as in the prototype [6] (RF Patent, No. 2321020). The switch can be implemented on reed switches, relays, electronic keys, etc. Comparison units, a smoothing filter, and also adders can be implemented on operational amplifiers [8] (Tetelbaum II, Schneider Yu.R. 400 circuits for ABM. - M., Energy, 1978) or digital microcircuits. The mode logic shaper can be made on the basis of logic microcircuits [9] (Pavlov VV Control devices of a logical type. - M., Energy, 1968). Coordinate converters from a stabilized coordinate system to an unstabilized coordinate system and from an unstabilized coordinate system to a stabilized coordinate system can be made as described in [10] (Rivkin S. S. Stabilization of measuring devices on a swinging base. - M., Nauka, 1978). The guidance and stabilization device can be implemented, as in the prototype, on the basis of hydraulic, electric motors and servo drives, as described in [11] (Chilikin MG, Sandler AS General course of electric drive. - M., Energoizdat, 1981 ) If it is necessary to work at large elevation angles or significant values of the quality amplitude, when the system can lose stability as a result of positive cross-connections due to a mismatch between the measuring and executive coordinate systems, the ONS is supplemented by a coordinate transformer. For example, a ONS can be a serially connected coordinate converter from a stabilized coordinate system of a direction finder to an unstabilized coordinate system of a servo drive and the guidance and stabilization drive itself together with a mechanical transmission. The output shaft of the PNS guidance and stabilization drive is the output shaft of the guidance and stabilization device. The BC correction unit and the automatic tracking device with known requirements for the guidance and stabilization drive and the tracking system can be formed according to the rules set forth in [12] (Bessekersky VA, Popov EP Theory of automatic control systems. - M., Science, 1973) with the implementation of the hardware based on the methods given in [8] (Tetelbaum II, Schneider Y. R. 400 schemes for ABM. - M., Energy, 1978). The correction block is made in the form of a PID controller and implemented in accordance with the recommendations given in [12], a synthesis of the PID controller parameters and examples of controller implementation and modeling as part of a dynamic system are given in [13, 14] (German-Galkin S.G. Computer simulation of semiconductor systems in MATLAB 6.0: A training manual. - SPb: CORONA print, 2001. - 320 p., Anufriev I.E. Tutorial MatLad 5.3 / 6.x - SPb .: BHV-Petersburg, 2003. - 736 p. .: ill.). Gyroscopic angle sensor (adjustable positional gyroscope) can be implemented, as described in [15] (Magnus K. Gyroscope. Theory and application. - M., Mir, 1982. - pp. 40-407). The operation and hardware implementation of the elements of the radio frequency unit — a high-frequency generator, a phase modulator, a power amplifier, transmitting and receiving antennas, a high-frequency converter, a low-frequency converter, a Doppler frequency filter, and also a modulating frequency generator — are described in detail in [16-18] Reference by radar: Per. from English In 4 t. / Ed. M. Skolnik; Under the total. Ed. K.N. Trofimova. - M., Soviet Radio, 1976 (v.2, 3), Theoretical Foundations of Radar / Ed. Y.D. Shirlina. - M, Soviet Radio, 1970. - 580 p., Modern Radar. Analysis, calculation and design: Per. from English - M., Soviet Radio, 1969. - 704 p. The composition, device and characteristics of the WB computing unit, implemented on the basis of the Baget computer, and application recommendations are given in [19] (Computer family for specialized applications. Baget computer family. Processor modules. Additional modules. Peripherals. - M ., Design Bureau Korund - M, 2000. - 50 p.), And the analytical expressions for calculating the amendments to ensure the meeting of the sighted and displayed uncontrollable own object, software-implemented in a digital microcontroller, are obtained on the basis of the laws of motion of state physics in inertial space and given in describing the operation support system. The characteristics of the microcontroller, recommendations for the use and programming of the microcontroller are given in [20] (User Guide for signal microprocessors of the ADSP 2100 family / Transl. From English O.V. Luneva; edited by A.D. Viktorov, St. Petersburg. Univ. - St. Petersburg, 1997 .-- 520 p.).

The system is as follows. Direction finders 1, 2 track the target simultaneously and give out signals proportional to the angular deviation of the tracking target from the line of sight (optical axis or axis of the radar antenna), independently of one another. The stability of target tracking and the ability to restore tracking in automatic mode in the event of an interruption in optical communication or loss of target by a location finder is provided by the construction of a tracking tracking system. The tracking system for tracking moving objects includes location and optoelectronic direction finders, mechanically connected to each other and having a kinematic connection with the output shaft of the guidance and stabilization device. The direction finders are also connected in series with the moderator 3, connected by the first and second outputs respectively to the third input (SLD) 16 and the control input of the switch (Com) 36. The ability to switch tracking from the location mode to the optical and vice versa is provided by switching structures using the contacts of the switch 36 The mode logic shaper 3 analyzes the presence of a sign of auto tracking in both channels and issues a control signal to the switch 36, which connects when operating in location mode e direction finder signal through a smoothing filter 11, coordinate transformer 6 and a device for automatically tracking moving objects 5 to the first input of the first guidance and stabilization device 8, and when operating in optical mode, the direction finder signal 2 through series-connected BU OES 4, GDU 12, the first adder 7 to the second input of the first ONS 8 and (SLD) 16, providing data exchange between SLD 16 and WB 17 to calculate corrections for changing ballistic conditions of firing. The switch 36 may be in two states - on or off. Enabled - control mode of the first ONS1 8 from LPL 1, disabled - control mode of ONS1 8 from OEPl 2.

The location tracking mode of objects is ensured by the structure of the circuit, including the receiver, transmitter, antenna switch, synchronizer of the tracking system in range and angular coordinates, and a guidance and stabilization device. The receiver, transmitter, antenna switch, synchronizer of the tracking system in angular coordinates in the aggregate are a location direction finder. Locational direction finder determines the position of the object relative to the axis of the antenna pattern. Signals about the position of the object after the correction link are fed to the input of the guidance and stabilization device, and it rotates the positioning direction finder until the target is on the axis of the radiation pattern. ONS also allows you to compensate for pitching media.

The stabilized coordinates of the sighted target arriving at the input of the first ONS1 8 to control the first guidance and stabilization drive (PNS1) 10 are converted into unstabilized coordinates in the coordinate converter PK1 _С-H 9. It can be implemented, for example, using the dependences proposed in [10]:

where ε _H , q _H are the angles of guidance of the ONS in an unstabilized coordinate system;

ε _С , β _C - ONS pointing angles in a stabilized coordinate system;

Q, ψ, θ are heading, pitch and roll angles, respectively.

It should be noted that the angles of the carrier qualities are also used in PK1 _Н-С 6 from an unstabilized coordinate system to a stabilized one for calculating the twist angle γ along with stabilized coordinates. Since the use of this information is obvious and can be obtained from an external system or developed by the tracking system itself, these relationships are not described in detail.

The optical mode of tracking the system is provided by a structure comprising a television sensor, a signal amplification and processing device, a computing device, which together form an OEPL, a correction device, and ONS1. Executive body 8 is common for LPL and OEPl. Considering that the control signals contain information about the carrier rolls, ONS1 performs the functions of a guidance and stabilization device and is kinematically connected with an optical-electronic direction finder sensor.

Tracking a moving target is as follows. After the targeting signal from the external system, the direction finder block is deployed in the direction of the target with an accuracy sufficient to take it for tracking, the location and optical-electronic direction finders capture the target and begin to generate conditional coordinates of the target relative to the optical axis or axis of the radar antenna. In order to exclude the component from the pitching from the signal and reduce cross-links between the channels, the signal from the output of the direction finder (location, optoelectronic) is converted into a stabilized coordinate system, for example, according to the dependences (2)

δε, δβ - mismatch signals in an unstabilized coordinate system;

δε _c , δβ _c - mismatch signals in a stabilized coordinate system;

γ is the twist angle of the unstabilized coordinate system ([10], p. 138).

The signal received in the direction finder (location, optoelectronic) is fed to the input of the correcting device, where such operations are performed on it in order to ensure the stability of the system and to achieve the required parameters for accuracy and transient response characteristics [12].

High precision tracking of a moving target solves the problem of stability tracking of a tracking system tracking a highly dynamic moving target. The quality of guidance and tracking of moving targets (regulation time, overshoot) and increased dynamic accuracy in the radar system are ensured through the use of a smoothing filter SF (11) and automatic tracking devices for moving objects UAS (5), the functional diagram and frequency characteristics of which are shown in the prototype [ 6]. UAS 5 incorporates two integrators and creates second-order astatism in the contour of the radar tracking system. The introduction of second-order astatism into the tracking loop of the location system provides the required accuracy characteristics of the tracking loop. To ensure the stability of the characteristics of the integrators included in the UAS (5), in all operating conditions, the device provides correction and conversion of the control signal in digital form. Since the signal from the radar direction finder is noisy and has a small value, the obtained value of the signal from the radar direction finder is filtered. The type of filter is determined by the spectral composition of the useful signal and noise. For slowly changing useful signals, for example, low-pass filters or devices calculating the average value of a function over a certain time interval can be used.

Since the beam pattern (1-2 degrees) of the location-finding finder (1) is significantly larger than the tracking gate (1-5 mrad) of the optical-electronic direction-finder (2) and, as a rule, exceeds the targeting error in magnitude, initially the target is taken for auto-tracking by location direction finder. It gives a sign of target auto-tracking to the mode logic generator (3), which provides, through the switch (36), the second LPL output (1) to the input of the first ONS1 (8). The output shaft of ONS1 deploys direction finders (or their transmitting devices) in the direction of the target so that the target is on the axis of the radiation locator direction finder 1.

However, the error in determining the coordinates of the target using a location-based direction finder is significantly higher than with the help of optical-electronic. Therefore, it is advisable to transfer control of the first guidance and stabilization device ONS1 8 to the signal from the OEPl (2). When the image of the target is in the strobe and the signal from it becomes different from the background, OEPl (2) provides information about this from its second output to the FLR (3). The mode logic generator switches using the switch (36) ONS1 (8) into the integrating mode of operation. The BC (35) is disconnected from the controlled drive 37, which is connected to the second output of the OEPL 2 through the gyroscopic angle sensor 12 and the control unit of the optoelectronic system 4. In this mode, the output shaft ONS1 (8) seeks to deploy direction finders so that the target image is in the center of the raster corresponding to the position of the optical axis of the OEPL (2). The accuracy characteristics and high smoothness of the optical control system is ensured by the choice of the structure of the optoelectronic control system — the introduction of a gyroscopic angle sensor (GDU) 12 and the organization of additional control astatism in the control loop by translating the guidance and stabilization drive (PNS1) 10 into the integrating operation mode using a switch (Com) 36. Introduction to the optical system loop of a gyroscopic angle sensor 12 mounted on the same platform as the direction finding device a, allows you to measure pitch in the same coordinate system as the receiver of the direction finder 2. Since the position of the measuring axes of the GDU 12 corresponds to the desired, and not the actual position of the platform, the signal at the output of the GDU 12 is a pointing and stabilization error measured in an unstabilized coordinate system , and is a control signal for ONS1 8.

Such an optical system construction gives an advantage in stabilization accuracy, since the pitch meter is located directly on the stabilized object. Small stabilization errors reduce the level of dynamic effects and increase the smoothness of the platform (smoothness refers to the rate of change of error in the angle). An additional increase in the accuracy of the system is ensured by the introduction of astatism for control due to the transfer of a tracking device PNS 8 to the integrating mode using the switch (Com) 36. The increase in the stabilization error due to the drive feedback closure not by the absolute pitching speed, but by the motor speed, is compensated by the platform’s absolute angular velocity (IMS) meter 12 with direction finders 1, 2 installed on it.

The recommended construction of an optical control system can significantly increase the accuracy of determining the coordinates of the target (the error in determining the coordinates does not exceed 0.05-0. Mrad) and the smoothness of the guidance of the optical direction finder 2 and, as a result, reduce the likelihood of a failure of tracking during the tracking system in tracking mode of the observed object.

In a number of practical applications of the tracking system, the task of destroying the maneuvering target accompanied by direction finders arises. To solve the task of hitting a target, a turret with two guns was introduced into the system, which ensures the execution of the fire task of hitting a maneuvering target. A platform with an optical and location-based direction finder is installed on the tower installation, while the tower installation has an autonomous drive for guiding the installation in the horizontal plane and a drive for guiding the guns in the vertical plane. Guidance drives of the turret mount also provide tracking of the turret in the horizontal plane and cannon armament in the vertical guidance plane over the position of the optical axis of the optoelectronic direction finder or the axis of the radiation locator direction finder. The layout of the devices of the tracking system on the product is shown in Fig.2. The main purpose of the tracking system is tracking moving targets. Given the velocity of the projectile and the flight speed of the target being sighted, the turret installation guidance (PNS2) 20 in the horizontal plane and the cannon armament are induced asynchronously with the optical 2 or location 1 direction finder (to the target being sighted), and with some lead. Vector meeting triangle is shown in figure 3. From consideration of the vector meeting triangle, a simple dependence follows for calculating the lead angle α _in (3):

where D _n - the measured distance to the target;

ω _n - the measured angular velocity of rotation of the line of sight;

D _y - the distance from the tower to the meeting point (firing range);

τ is the projectile flight time over the calculated firing range;

α _y - lead angle.

In (3), the velocity of the projectile is determined by the parameters of the gun systems and the characteristics of the projectile and, in the simplest form, is taken from the form for a batch of shells used to hit the target. However, the use of the form data in certain critical practical applications does not provide, taking into account the uncontrollability of the projectile flight after they exit the barrel, the exact hit of the projectile in the target accompanied by direction finders. For the exact hit of the projectile in the tracking target, it is necessary to calculate the lead angle taking into account the specific initial velocity of the projectile's departure from the barrel. The measurement of the initial velocity of the shells in this technical solution is proposed to be carried out by the radar method using the Doppler effect by processing the projectile reflected from the barrel projecting from the bore and probing signals. To determine the flight speed of the projectile, the frequencies of the reflected and probing signals are compared and a signal with a difference frequency (Doppler frequency) is extracted. The received signal after processing in (SLD) 16 is transmitted through the communication channel to the computing unit 17 for calculating the initial velocity of the projectile, its deviation from the table value, calculating the correction for the deviation of the ballistic shooting conditions and the lead signal.

To ensure independent measurement of the rate of projectile departure from the barrel of each gun, two radio-frequency units are used, connected to a signal processing device (SLD) 16, which processes the signals received from RB1 and RB2, generate data for calculating the initial velocity of the shells (projectile travel time of a fixed portion of the trajectory ) and transmit them over the communication channel to WB 17, which calculates the correction for the deviation of the ballistic conditions of fire, calculates the lead angle, which is a control signal actuators guidance tower installation that WB 17 output is input to the second UNS2 18, providing guidance control actuators tower installation. The layout of the radio frequency blocks RB1, RB2 on the trunks relative to the path of the projectile is shown in figure 2.

The measurement of the velocity of the projectile is carried out by counting the periods of the Doppler frequency during the flight of the projectile fixed section of the trajectory D of figure 2 (usually called the measuring base), determine the time of flight of this length and calculate the speed according to the formula

where D is the length of the fixed measuring base;

t is the time of flight of the projectile fixed measuring base.

The radio frequency blocks RB1, RB2 14, 15 (transceiver) installed on each gun of the turret are continuous-wave radars that generate microwave energy, radiate it into the air, receive a Doppler frequency carrier signal reflected from the projectile information about the speed of the projectile.

The transceiver includes:

- a block of antennas (receiving and transmitting);

- microwave transceiver unit;

- primary signal processing unit;

- light receiver-synchronizer, designed to record the moment the projectile exits the barrel and synchronizes the operation of the unit.

Antennas and a microwave unit provide the generation and emission of microwave energy by frequency

F _H , receiving a reflected signal (F _H + F _D ) converting it into a signal of frequency F _D.

Here F _H is the carrier frequency of the transmitter;

(F _H + F _D ) - the frequency of the signal reflected from the projectile;

F _D - Doppler frequency.

The structural diagram of the construction of the radio frequency part is shown in figure 4. High-frequency generator (GHF) 22 generates a signal

with frequency f _o and amplitude A _g . The signal from the HHF 22 is modulated in a phase modulator (FM) 23 by a signal from a modulation generator (HMF) 30 having a frequency F _m . Then the signal U _t emitted by the transmitting antenna A _t 25 can be written as

The signal U _r received by the receiving antenna A _r 26, which is reflected from the projectile, will have the form

- задержка сигнала от удаляющегося снаряда, находящегося на расстоянии R_o и движущегося с радиальной скоростью V. Сигнал на низкой частоте с преобразователя высокой частоты (ПВЧ) 27определяется какwhere A _r is the amplitude

- the delay of the signal from a retreating projectile located at a distance of R _o and moving with a radial speed V. The signal at a low frequency from a high-frequency converter (HPF) 27 is defined as

. Схема расположения радиочастотной части (РБ1, РБ2) относительно траектории движения снаряда представлена на фиг.2. Исходя из минимально возможной скорости вылета снаряда V_c и максимального темпа стрельбы находится минимально возможное расстояние между снарядами на траектории по формулеwhich passes through a Doppler frequency filter (PDF) 29. Thus, the signal from the output of the PDF 29 has a frequency

. The layout of the radio frequency part (RB1, RB2) relative to the trajectory of the projectile is presented in figure 2. Based on the minimum possible projectile departure speed V _c and the maximum rate of fire, the minimum possible distance between the projectiles on the trajectory is found by the formula

where V _c is the velocity of the projectile;

T - maximum rate of fire.

To ensure the angular selection of shells radiation pattern width

θ _0.5 in the horizontal plane of geometric constructions (figure 2) is defined as

The initial velocity Vc is determined from the value of the interval D and the time T, during which the projectile passes this distance

Since the Doppler determinant provides a measurement of the radial velocity V

the distance R = R _k -R _n can be defined as

Choosing a time interval T equal to an integer N of periods of the Doppler signal T _d , i.e. T = NT _d , then

where λ is the wavelength of electromagnetic radiation.

From figure 2 we have

and taking into account 11, 12, 13, we get

As a result, to determine the initial velocity V _c , it is necessary:

- measure the time interval T, for which fit N periods of Doppler frequency;

- estimate the geometric distance R _n and Do;

- know the wavelength λ.

The receiver provides filtering and amplification of the signal reflected from the projectile. In order to increase the signal-to-noise ratio, narrow-band Doppler filtering is used to increase the Doppler frequency.

As a computing unit (WB) 17, a small-sized baguette-type computer is used that contains a high-performance processor, RAM, keyboard, indicator, and programmable storage device [19]. Using a computer expands the range of tasks. It becomes possible to calculate corrections, take into account weather conditions, and it also simplifies pairing of various devices of the tracking system. The signal processing device has a Flash memory, which allows you to remember the measurement data for a group of shots, evaluate changes in the initial speed during the tracking system, save data when the power supply fails. The reprogrammable storage device is used to enter new data from the tables if necessary during breaks in the operation of the tracking system.

Thus, in the claimed technical solution due to the use of a tower installation with two guns and the use of special devices that ensure the accurate hit of an uncontrolled cannon shell in an accompanied moving target, when using high-precision location and television control systems, it is provided:

- determination of the initial velocity of the projectile and the calculation of the amendments to the control system;

- increased accuracy of firing at an followed target, taking into account their own ballistic characteristics of the shells and the operating conditions of the tracking system;

- increased accuracy and stability of target tracking by location and optoelectronic direction finders;

- increased noise immunity of the tracking tracking system, expressed in the possibility of tracking objects with direction finders with the exception of false captures when firing at targets with cannon weapons.

Information sources

1. Barsukov F.I., Velichkin A.I., Sukharev A.D. Television systems of aircraft. - M., Soviet Radio, 1979. - 256 p., Analog.

2. Gryazin G.N. Optoelectronic systems for space viewing: Television systems. - L .: Engineering, Leningrad Dep., 1988. - 224 p.

3. Tsibulevsky I.E. Man as a link in the tracking system. - M., Nauka, 1981. - 288 p., Analogue.

4. Dynamics of servo drives / Ed. L.V. Rabinovich. - M.: Mechanical Engineering, 1982.- 496 p., P. 132, Fig. 2.26, analogue.

5. Radar devices / Ed. V.V. Grigorina-Ryabova. - M.: Soviet Radio, 1970. - 680 p., P. 570, Fig. 21.12 analogue.

6. Pat. 2321020 RF. Integrated location-optical automatic tracking system for moving objects / A.G. Shipunov, I.V. Stepanichev, A.V. Zhukov, E.V. Aleksandrov, etc. // Bul. - 2008. - No. 9 - P.845, prototype.

7. Maximov M.V., Gorgonov G.I. Electronic homing systems. - M., Radio and communications, 1982. - 304 p.

8. Tetelbaum II, Schneider Yu.R. 400 circuits for ABM. - M., Energy, 1978.- 246 p., Ill.

9. Pavlov V.V. Logical type control devices. - M., Energy, 1968.

10. Rivkin S.S. Stabilization of measuring devices on a swinging base. - M., Nauka, 1978.- 320 p .: ill.

11. Chilikin M.G., Sandler A.S. General course of electric drive. - M., Energy Publishing House, 1981. - 576 p.

12. Bessekersky V.A., Popov E.P. Theory of automatic control systems. - M., Science, 1973.- 768 p.

13. German-Galkin S.G. Computer Simulation of Semiconductor Systems in MATLAB 6.0: A Training Manual. - St. Petersburg: CROWN print, 2001 .-- 320 p.

14. Anufriev I.E. Tutorial MatLad 5.3 / 6.x - St. Petersburg: BHV-Petersburg, 2003 .-- 736 pp., Ill.

15. Magnus K. Gyroscope. Theory and application. - M., Mir, 1974.- 526 p.

16. Reference radar: Per. from English In 4 t. / Ed. M. Skolnik; Under the total. ed. K.N. Trofimova. - M., Soviet Radio, 1976. (vol. 2, 3).

17. Theoretical Foundations of Radar / Ed. Y.D. Shirlina. - M., Soviet Radio, 1970 .-- 580 p.

18. Modern radar. Analysis, calculation and design: Transl. From English. / Under the total. ed. Yu.B. - M., Soviet Radio, 1969. - 704 p.

19. A family of computers for specialized applications. The family of computers "Baguette". Processor modules. Additional modules. Peripherals. - M., KB Corund-M, 2000 .-- 50 p.

20. User Guide for signal microprocessors of the ADSP 2100 family / Per. from English O.V. Luneva; under the editorship of A.D. Viktorova, St. Petersburg. Gos. un-t - St. Petersburg, 1997 .-- 520 p.

Claims (4)

1. A tracking system for tracking moving objects, containing mechanically connected location and optoelectronic direction finders, the first outputs of which are connected respectively to the first and second inputs of the modeler, providing the transition of tracking moving objects from the location mode to optical and vice versa, an optical-electronic control unit system, the input of which is connected to the second output of the optoelectronic direction finder, a device for automatically tracking moving objects, the first pre a browser of unstabilized coordinates to stabilized and a first guidance and stabilization device comprising a first stabilized coordinate converter into unstabilized and a first guidance and stabilization drive connected in series, the output shaft being the first output of the first guidance and stabilization drive kinematically connected to location and optical-electronic direction finders , characterized in that in its composition the first adder, a smoothing filter, is mechanically coupled the gyroscopic angle sensor, the input of which is connected to the output of the control unit of the optoelectronic system, and the angular velocity meter, and the outputs of the gyroscopic angle sensor and angular velocity meter connected to the first and second inputs of the first adder, the output of which is connected with the location and optoelectronic direction finders connected to the second input of the first drive guidance and stabilization, the first and second radio frequency units, which are radars operating in continuous radiation mode receiving and receiving, in series connected, a signal processing device for generating data from a Doppler signal for calculating the initial velocity of the projectile, a computing unit for calculating the initial velocity of the projectile, its deviation from the table value and calculating the correction for changing the ballistic conditions of firing and the lead signal, and a second guidance and stabilization device, comprising a second stabilized to non-stabilized coordinate converter connected in series bathtubs and a second guidance and stabilization drive, the output shaft of which is kinematically connected to the tower installation, on which a platform with optoelectronic and location-based direction finders is installed, while the first and second radio frequency units are placed on the gun barrels of the tower installation, and the second location-based direction finder output is connected to the input of the smoothing filter, the output of which is connected to the input of the first transducer of unstabilized coordinates to stabilized, the output connected to the device automatically the first tracking of moving objects, the output of which is connected to the input of the first transducer of stabilized coordinates into unstabilized, the outputs of the first and second radio frequency blocks are connected respectively to the first and second inputs of the signal processing device, the third input of which is connected to the first output of the mode logic generator, the second output of which is connected to the third input of the first drive guidance and stabilization, the second and third inputs of the computing unit are connected respectively to the second output of the first a drive guidance and stabilization and third output of the direction finder radar. 2. The system according to claim 1, characterized in that the radio frequency unit contains a series-connected high-frequency generator, a phase modulator, a power amplifier and a transmitting antenna, a series-connected receiving antenna, a high-frequency converter, a low-frequency converter and a Doppler frequency filter, as well as a generator modulating frequency, and the second output of the high-frequency generator is connected to the second input of the high-frequency converter, and the output of the modulating frequency generator is simultaneously connected to the first inputs of the phase modulator and the low-frequency converter, while the input of the RF block is the receiving antenna, and the first and second outputs are the transmitting antenna and the output of the Doppler frequency filter. 3. The system according to claim 1, characterized in that the computing unit comprises series-connected corrections calculator, a second adder and a second converter of unstabilized coordinates to stabilized, as well as a lead signal generation unit, the input and output of which are connected to the second and third inputs of the second adder, respectively while the first, second and third inputs of the computing unit are, respectively, the input of the correction computer, the second input of the second adder and the second input of the signal generation unit denia, and the output is the output of the second converter of unstabilized coordinates to stabilized. 4. The system according to claim 1, characterized in that the guidance and stabilization drive comprises serially connected correction unit, a switch, a controllable drive and a mechanical transmission, the second output of which is connected to the second input of the correction unit, while the first, second and third inputs of the guidance drive and stabilization are, respectively, the first input of the correction unit, the second and control inputs of the switch, and the first and second outputs are the output shaft and the second output of the mechanical transmission.

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