RU2383468C1 - Complex system to determine parametres of operational targets - Google Patents

Abstract

FIELD: warfare, air combat deployment.

SUBSTANCE: proposed system comprises, apart from basic navigation system, target sight system and operational target parametre computation and storage units, high-accuracy correcting navigation means and units to set measurements, smoothing filters, to compute corrections, to correct operational target parametres and store them. Primary determination of operational target coordinates is performed by processing data on aircraft position provided by basic navigation system and target relative coordinates provided by target sight system. Obtained gross values of operational target coordinates, as well as accurately measured values of relative coordinates and moment of measurements, are memorised. With advent of favorable conditions for normal operation of high-accuracy navigation measurement hardware incorporated with the complex system correcting unit, discrepancies between data received from said measurement hardware and from basic navigation system are revealed to be processed to disclose errors of the basic navigation system existing in measurement of operational target parametres. Estimations of said errors and memorised aircraft and target parametres are used to generate new, more precise, coordinates of the targets.

EFFECT: efficient updating of memorised target coordinates to up combat deployment quality of aircraft which use abode described data on said targets.

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Description

The invention relates to measuring systems and systems of aircraft (LA) - aircraft and helicopters.

In the closest analogue, given in the book [1], an integrated system (CS) of the aircraft is presented, which includes airborne survey and sighting means for detecting and tracking targets, a basic navigation system, a computer, and an information storage unit. A pilot pilots an aircraft so that airborne surveillance and sighting devices capture an operational ground target. After that, the process of determining its parameters begins, in particular, the location coordinates, which consists in the fact that, based on information about the coordinates of the aircraft generated by the basic navigation system, and the relative coordinates of the target relative to the aircraft, formed by sighting tools (as a rule, such parameters are inclined the range measured by the range finder and the target viewing angles determined using the sighting system, for example, an optical radar station (OLS), a radar station (radar), in a computer asschityvayutsya coordinates relative to the selected operational objective terrestrial coordinate system. The obtained coordinates of the operational target are stored in the information storage unit and can be used in the future to solve various special problems. After determining and remembering the parameters of one operational target, the system is ready to work on the next target and, if desired, the crew can proceed to determine its parameters as described above.

The closest analogue has a significant drawback, namely, that the accuracy of determining the parameters of an operational target will depend on the accuracy of determining the relative coordinates of the target relative to the aircraft using survey and sighting tools and on the accuracy of determining the coordinates of the aircraft using the base navigation system at the time of their use. At the same time, the accuracy of these systems is different: if the accuracy of sighting and sighting devices is quite high, then the errors in determining the coordinates of the aircraft using the basic navigation system, which often acts as an autonomous inertial navigation system, are quite significant and can reach several kilometers. This means that the errors in the binding of operational targets to the terrain will be the same values, in particular the same several kilometers.

The objective of the invention is to expand the functionality of the aircraft CS by correcting the parameters of operational targets obtained in this way by using additional external information about the parameters of the aircraft’s motion, obtained later from other systems and, as a result, increasing the combat effectiveness of using objects equipped with such a system.

This result is achieved by the fact that an integrated system containing a basic navigation system, a block of survey and sighting means for detecting and tracking targets, a block for calculating parameters of operational targets, a block for storing primary parameters of operational targets, is additionally equipped with a block of correction tools, a block for generating measurements, and a block of smoothing filters , a block for calculating corrective amendments, a block for correcting parameters of operational goals, a block for storing updated parameters of operational goals. In this case, the output of the basic navigation system is connected to the first input of the unit for calculating operational targets parameters, the output of the unit for sighting and targeting devices is connected to the second input of the unit for calculating operational targets parameters, the output of which is connected to the input of the storage unit for primary parameters of operational targets, the output of the correcting means unit is connected to the second input of the unit for forming measurements, the first input of which is connected to the output of the base navigation system, the output of the unit for forming measurements is connected to the input of the unit smoothing filters, the output of the block of smoothing filters is connected to the input of the block for calculating corrective amendments, the output of the block of correcting amendments is connected to the second input of the block for correcting parameters of operational targets, the first input of which is connected to the output of the block for storing primary parameters of operational targets, the output of the block for correcting parameters of operational targets the input of the storage unit for updated parameters of operational goals, the output of which is the output of an integrated system for determining operational parameters goals.

The drawing shows a block diagram of an integrated system for determining the parameters of operational targets (KSOPOTS) aircraft, containing:

1 - basic navigation system BNS;

2 - a block of sighting and sighting equipment BOPS;

3 - block calculation parameters operational objectives BRPOC;

4 - block storage of primary parameters of operational goals BHPPOC;

5 - block corrective means BCS;

6 - block forming measurements BFI;

7 - block smoothing filters BSF;

8 - block calculation corrective amendments BRKP;

9 - block correction parameters operational objectives BKPOTs;

10 - storage unit for the updated parameters of the operational goals of BHUPOTS.

The information interconnection of the KSOPOC blocks is carried out along the lines of information exchange (indicated by a thin solid line in the drawing).

The output of the BNS block 1 is connected to the first input of the BFI block 6 and to the first input of the BRPOC block 3, the output of the BPS block 2 is connected to the second input of the BRPOC block 3, the output of the BKS block 5 is connected to the second input of the BFI block 6, the output of the BFI block 6 is connected to the input BSF unit 7, the output of BSF unit 7 is connected to the input of the BRKP 8 unit, the output of the BRKP 8 unit is connected to the second input of the BKPOTS 9 unit. The output of the BRPOTS 3 unit is connected to the input of the BKhPOTS 4 unit, the output of the BHPOTs 4 unit is connected to the first input of the BKPOTS 9 unit, the output of the unit BKPOTS 9 is connected to the input of the unit BHUPOTS 10, the output of which is the output of an integrated system for determining the parameters of operational goals.

Block BNS 1 is a well-known, described in the literature, for example [3], p.6-9, 301-374, [4], p.110-120, means: inertial navigation system (ANN), strapdown ANN (BINS) , air-navigation system. Block BNS 1 performs the determination of the parameters of the aircraft: coordinates, speed, orientation angles.

BOPS unit 2 is a well-known, described in the literature, for example [1], pp. 358-375, means: optical-location station (OLS), thermal imaging station with automatic target tracking (FA), radar station (radar), radio or optical range finder. The BOPS unit 2 detects the target in space, captures it and automatically follows it, while determining the relative coordinates of the target relative to the aircraft (for example, in the form of the distance D to the target and the angles φ _y and φ _{z of the} rotation of the line of sight relative to the normal and lateral axes of the aircraft, respectively ), which are fed to the input BRPOC 3.

Block BCS 5 is a well-known, described in the literature, for example [3], pp. 9-15, means: satellite navigation system (SNA), short-range navigation system (RSBN), long-range navigation system (RSDN). Block BCS 5 determines the parameters of the aircraft's motion (coordinates, speed) with an accuracy significantly better than the accuracy of similar determinations made using BNS 1, but not always, but only if there are favorable conditions, for example, the absence of external noise, the presence of a stable connection with sources of radio navigation signals.

Blocks BHPPOC 4 and BHUPOTS 10 are made in the form of, for example, operational or read-only memory ([2], p. 30). Blocks BRPOC 3, BFI 6, BSF 7, BRKP 8, BKPOTS 9 are made, for example, in the form of single-processor computers ([2], p.31).

Information communication lines are known (described, for example, in the book [2], p.21-24, 394-406) communication lines and information exchange, for example, via serial code, parallel code, multiplex, etc.

KSOPOTS works as follows.

When capturing for tracking an operational target, the BOPS 2 unit accurately determines the relative coordinates of the target relative to the aircraft and automatically monitors the target, while the relative coordinates are continuously updated. These relative coordinates, for example, in the form of the distance D to the target and the rotation angles φ _y and φ _z of the line of sight of the target, are fed to the second input of the BRPOC 3 block. The coordinates of the aircraft, for example, in the form of values of longitude λ, latitude φ, and height H, which are determined with some errors Δλ, Δφ, ΔН, respectively. In addition, the orientation angles of the aircraft — the ψ course, pitch ϑ, and roll γ determined in the BNS block 1 using well-known algorithms described in the literature, for example, [3] —are also received from the BNS block 1 in the BRPOC 3.

In the block BRPOC 3, the coordinates of the operational target relative to the Earth are calculated, for example, in the form of geographical coordinates λ ^(C-1) , φ ^(C-1) , H ^(C-1) or Cartesian coordinates X ^(C-1) , Y ^{(C -1)} , Z ^(C-1) . For this, an algorithm such as this can be used:

where D _E , D _N , D _H - projection of the range vector to the operational target on the axis of the geographic trihedron OENH;

A is the matrix of guide cosines corresponding to the rotation from the geographic trihedron OENH to the connected Oxyz;

C is the matrix of guide cosines corresponding to the rotation from the connected trihedron Oxyz to the ray Ox'y'z ';

B is the matrix of guide cosines corresponding to the rotation from the Greenwich trihedron OXYZ to the geographical OENH;

T is the symbol for transposition.

These matrices A, B and C can be determined, for example, using the following formulas:

moreover, the quantities ψ, ϑ, γ and λ, φ are the angles of the course, pitch, roll and longitude, latitude of the aircraft, respectively.

Based on the found Cartesian coordinates of the operational target X ^(C-1) , Y ^(C-1) , Z ^(C-1) , the geographical coordinates of the operational target λ ^(C-1) , φ ^(C-1) can be calculated

N ^(C-1) using a well-known algorithm, for example, presented on pages 225-229 in [3]. Obviously, in this case, the errors of the basic navigation system in determining the coordinates of the aircraft will completely enter the errors in calculating the coordinates of the operational target, which therefore will be inaccurate.

The obtained inaccurate values of the coordinates of the operational target, the measured exact values of the relative coordinates of the operational target and the rough values of the coordinates of the aircraft obtained by the base system, from the output of the BRPOC 3 block go to the input of the BHPPOC 4 block, in which these values are stored for their subsequent use in solving special problems .

After calculating and recording the parameters of one operational goal, KSOPOTS can switch to the processing mode of information about another operational goal. The algorithm of the complex with the second operational goal is completely similar to the above, and the result of its implementation will be the coordinates of the second operational goal (X ^(C-2) Y ^(C-2) Z ^(C-2) or λ ^(C-2) , φ ^{(C -2)} , N ^(C-2) ), recorded in the BHPPOC block 4, in which information on inaccurate coordinates of operational targets will thus be accumulated.

In the BHPPOC 4 block, a certain amount of data on detected operational targets can already be accumulated when favorable conditions for the operation of the BKS 5 block come and he begins to determine the parameters of the aircraft’s motion (coordinates, speed) with an accuracy significantly better than the accuracy of similar determinations made with using BNS 1. These exact values of the parameters of the movement of the aircraft from the output of the BCS 5 block go to the second input of the block BFI 6, the first input of which at the same time receives less accurate values of similar parameters of the movement of the aircraft from the output of the BNS block 1.

In block BFI 6 carries out the formation of a measurement vector Z of errors in determining the parameters of the movement of the aircraft with basic navigation means in the form of the difference between the values of the same parameters of the movement of the aircraft, obtained in blocks BNS 1 and BCS 5, for example, geographical or Cartesian coordinates that make up the velocity vector in the axes selected coordinate system:

Z ₁ = λ ^BNS- λ ^BCS or Z ₁ = X ^BNS -X ^BCS ;

Z ₂ = φ ^BNS- φ ^BCS or Z ₂ = Y ^BNS -Y ^BCS ;

Z ₃ = N ^BNS- N ^BCS or Z ₃ = Z ^BNS -Z ^BCS ;

Z ₄ = V _E ^BNS -V _E ^BCS or Z ₄ = V _X ^BNS -V _X ^BCS ;

Z ₅ = V _N ^BNS -V _N ^BCS or Z ₅ = V _Y ^BNS -V _Y ^BCS ;

Z ₆ = V _H ^BNS -V _H ^BCS or Z ₆ = V _Z ^BNS -V _Z ^BCS .

The resulting measurement vector from the output of the BFI 6 block is fed to the input of the BSF 7 block, in which, according to the measurements, the errors of the base navigation system are smoothed out at fixed points corresponding to time points at which the relative coordinates of operational targets relative to the aircraft were determined. For this, a well-known algorithm for solving the problem of optimal smoothing at a fixed point can be used, described, for example, in [5] on pages 230, 234, 236-246, 265:

Where:

j = k + 1, k + 2, ..., are the numbers of discrete time instants following with the selected step Δt, k corresponds to a fixed point - the moment of fixing the relative coordinates of the operational target;

- оценка вектора состояния базовой навигационной системы в k-той точке по измерениям, произведенным в j-той точке;

- estimation of the state vector of the base navigation system at the k-th point according to measurements made at the j-th point;

W (j) is the transfer matrix of the smoothing filter;

P (j, j) is the value of the covariance matrix of the state vector for the j-th moment;

R (j) is the value of the covariance matrix of the measurement vector Z for the j-th moment;

H (j) is the measurement matrix linking the measurement vector Z with the estimated state vector X of the base navigation system (Z = Н · X + δ, δ is the measurement noise);

F (j, j-1) is the matrix of the state model that relates the value of the state vector at the jth and (j-1) th moments (X (j) = F (j, j-1) · X (j)) + ε, ε - input noise).

The initial conditions for the given recursive algorithm are the values of the transfer matrix and state vector estimates at the fixed kth point: W (k) = P (k, k) and X (k | k).

The obtained values of the state vector of the basic navigation system at fixed points from the output of the BSF 7 block go to the input of the BRKP 8 block, in which the corrections to the values of the coordinates of the aircraft in the considered fixed points are calculated - i.e. at moments of measurement of the relative coordinates of operational goals. The type of algorithm performed in the BRKP 8 block depends on what parameters of the aircraft motion are included in the estimated state vector X and what parameters are used in calculating the full coordinates of the operational target. For example, errors in the basic navigation system in determining the geographical or Cartesian coordinates of an aircraft, i.e. quantities Δλ, Δφ, ΔН or ΔХ, ΔY, ΔZ, respectively, and either geographical or Cartesian coordinates of the aircraft can be used to calculate the full coordinates of the operational target. In this case, the algorithm of the BRKP 8 block is reduced to calculating the exact values of the coordinates of the aircraft at the fixed points according to the obtained estimates of their errors and from the stored rough values generated by the basic navigation system.

The exact values of the coordinates of the aircraft from the output of the BRKP 8 block are fed to the second input of the BKPOTS 9 block, the first input of which from the output of the BHPPOC 4 block receives the remembered exact values of the relative coordinates of operational targets obtained at the fixed points. In the BKPOTS block 9, according to these data, the exact coordinates of operational targets are calculated using an algorithm similar to the algorithm of the BRPOC 3 block, but using the exact values of the coordinates of the aircraft. The resulting coordinates of operational targets are more accurate, since the errors of the basic navigation system are excluded from them. From the output of the BKPOTS 9 block, the exact coordinates of the operational goals are received at the input of the BKHPOC 10 block, in which they are stored for a long time. From the output of block BHUPOTS 10, which is the output of KSOPOTS, these parameters are supplied to various consumers for use in solving various functional problems. In particular, they can be used for combat work on these goals, both by the aircraft themselves, which detected and clarified their position, and by other (shock) aircraft, interacting with the first, which at the same time acts as a scout. To do this, information about the exact parameters of the operatively detected targets should be transmitted to the ground control tower and to the board of other (strike) aircraft using means of the onboard data exchange (not included in the SC). In addition, the refined parameters of operational targets can be used by all interacting aircraft (both by the reconnaissance and others) as reference points to clarify the location of the aircraft themselves when they solve navigation problems - for example, in the presence of interference for the operation of high-precision satellite navigation systems. Also, the information on the exact parameters of the operatively detected targets transmitted to the ground control tower can be used for combat planning during interspecific interaction of forces.

Thus, the introduction of the BCS 5, BFI 6, BSF 7, BRKP 8, BKPOTS 9, BHUPOTS 10 blocks into the complex system provides effective automatic refinement of the recorded coordinates of detected operational targets, which significantly improves the quality of solving various special combat tasks of using aircraft using information about these goals. In particular,

- increases the accuracy of guidance of shock aircraft on an operatively detected target;

- it is possible to reduce the time spent by the aircraft in the zone of enemy air defense;

- it is possible to increase the likelihood of hitting a target while reducing the estimated force order;

- provides the ability to use operational goals as point landmarks to improve the accuracy of orientation and navigation;

- increases the effectiveness of planning tasks for combat use.

In general, the safety of the crew, the combat readiness of the aircraft and the effectiveness of the performance of flight missions are substantially increased.

The technical implementation examples show the achievement of a technical result in terms of expanding the functionality of an integrated system for determining the parameters of operational goals, namely: automatic correction of the calculated values of the coordinates of targets, resulting in increased crew safety, combat readiness and the effectiveness of the use of facilities equipped with KSOPOC.

LITERATURE

1. Grishutin V.G. Lectures on aircraft sighting systems. - Kiev: KVVAIU, 1980

2. Presnukhin L.N., Nesterov P.V. Digital computers. - M .: Higher school, 1981

3. Babich O.A. Information processing in navigation systems. - M.: Engineering, 1991

4. Pavlov Yu.N., Seleznev A.V., Tolstousov G.N. Geoinformation systems. M .: Engineering, 1978

5. Medic J. Statistically optimal linear estimates and control. Per. from English Ed. A.S. Shatalova. M .: Energy, 1973

Claims (1)

An integrated system for determining operational targets parameters, comprising a basic navigation system, an overview and aiming means block, an operational targets parameters calculation block, a storage unit for primary operational targets parameters, the output of the basic navigation system being connected to the first input of the operational targets parameters calculation block, the output of the overview block sighting devices connected to the second input of the unit for calculating the parameters of operational goals, the output of which is connected to the input of the storage unit for the primary parameters of operational goals, characterized in that the integrated system for determining the parameters of operational goals is additionally equipped with a block of corrective tools, a block for generating measurements, a block of smoothing filters, a block for calculating corrective corrections, a block for correcting parameters for operational goals, a block for storing updated parameters for operational goals, and the output of the block for correcting means connected to the second input of the measuring unit, the first input of which is connected to the output of the base navigation system, the output of the block the formation of measurements is connected to the input of the block of smoothing filters, the output of the block of smoothing filters is connected to the input of the block for calculating corrective corrections, the output of the block of correcting corrections is connected to the second input of the block for correcting parameters of operational targets, the first input of which is connected to the output of the block for storing primary parameters of operational targets, the output of the block correction of operational targets parameters is connected to the input of the storage unit for updated operational targets parameters, the output of which is the output of the complex th system parameter determining operational objectives.

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