RU2413159C1 - Aiming and guidance method of controlled objects - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: method consists in tracing the aiming line after the target, formation of information field of guidance channel; at that, zero control signal line is aligned with the aiming line. Measurement of current coordinates determining angular deviation of the target relative to the aiming line is performed by means of the target following automatic device. Then, zero control signal line of information field of guidance channel is turned from the aiming line proportionally to the measured angular deviation of target by supplying control signals fed to optical-acoustic deflector of the transmitting module of guidance channel.

EFFECT: improving guidance accuracy of the controlled object on a target.

4 dwg

Description

The invention relates to optical sights of guidance systems of controlled objects and can be used in control systems with teleorientation of controlled objects in a laser beam.

A known method of guidance of controlled objects (UO) of the first generation, which consists in pointing the aiming line at the target by the gunner (operator), eye-measuring the deviation of the tracer of the managed object from it, and affecting the governing bodies in accordance with these deviations before combining the UO with the target (A. N. Latukhin "Antitank weapons." M., Military Publishing House, 1974, p. 192-236). The first generation of such systems include, for example, the French SS-10, SS-12, West German “Cobra”, domestic “Phalanx”, “Baby” and others.

These guidance methods have a number of disadvantages, the most important of which is the need for continuous visual tracking of the MA and the purpose and management of the MA along the entire trajectory. Therefore, strict requirements are imposed on the gunner when training in shooting rules and practical skills.

For training and periodic training of gunners UO with a manual guidance system requires sophisticated electron-optical simulators. In addition, with this control method it is almost impossible to eliminate one of the main disadvantages - the low flight speed of the UO. As the UO flight speed increases, the work of the gunner is greatly complicated, since control is usually carried out using commands based on the mutual position of the UO and the target. The gunner physically does not have time to timely respond to a change in the direction of flight of a high-speed UO. The gunner also experiences significant difficulties in bringing the AT to the line of sight. To avoid pecking UO on the ground near the launcher UO give a significant elevation angle, resulting in the formation of a significant non-firing zone.

A number of guidance systems are known with the tele-orientation of the magnetic field in the laser raster, the center of which is aimed at the target (RF Patent No. 2126522, MKI F41G 7/26, 02/20/99; RF Patent No. 2126946, MKI F41G 7/26, 11/25/97). In these systems, the guidance method is used, which includes aligning the sighting channel and the guidance channel in the optical sight, observing the target by the operator using the sighting channel of the optical sight, tracking the target and controlling the object through the guidance channel of the optical sight. Aiming the target channel at the target is carried out by the gunner in two angular coordinates and is carried out using the command sensor (DK). DK is an electronic-mechanical device consisting of a joystick (rotary device) pivotally connected to the sensors of the angular position of the optical sight (OP). The gunner, moving the joystick, sets the speed of pointing the OP along angular coordinates and using luminous marks, for example circles or arrows on the monitor of the sighting channel (or in the eyepiece of the OP), directs the line of sight of the OP combined with the line of zero signals of the laser raster of the control channel, on target. Guidance of the UO is carried out in the information laser raster, in which the required linear dimensions of the laser raster are provided at the current flight range of the UO. The coding of the laser raster is carried out using an optical modulator, or by scanning the laser beam with acousto-optical deflectors.

The object is controlled in the information field using a photodetector installed in its rear part and receiving laser radiation. On-board equipment, signals are converted into rudder control commands, with the help of which the UO is held in the center of the information field of the guidance channel.

This method differs from the previous one in that the gunner only combines the aiming mark (crosshair) of the sighting channel of the optical sight with the target, forming the line of sight by combining the optical axis of the sight with the direction to the target, and the guidance of the UO is carried out automatically but the mismatch signals proportional to the angular deviations of the UO from the line of zero control signals of the information field of the guidance channel.

The angular error of pointing the target on the target with this guidance method consists of the following errors:

- angular misalignment error arising due to inaccurate alignment of the optical axis of the sighting channel of the sight, which determines the line of sight, the optical axis of the transmitting module of the guidance channel, which determines the line of zero signals of the information field of the guidance channel;

- dynamic error of the EO arising due to the deviation of the EO when it moves in the information field of the guidance system from the line of zero signals of this field;

- angular tracking error that occurs when the gunner combines the crosshairs of the sighting channel of the optical sight with a target.

The first two errors are minimized when designing a sight containing a sighting channel and a control channel of a laser TV orientation system and when designing on-board UO equipment.

The third error depends on the gunner’s qualifications and is 0.4-0.6 mrad and 0.2-0.3 mrad for highly skilled gunners with medium qualifications (RF Patent No. 2217681, IPC 7 F41G 7/20, 07/19/2001).

Since the mismatch of the aiming mark (crosshairs) of the sighting channel of the optical sight relative to the target is visually determined by the gunner, the accuracy of the formation of the aiming line, the combination of the aiming mark and the target depends on his qualifications.

With visual detection and tracking of the target, weather conditions and background conditions have a significant impact on the accuracy, and sometimes the ability to use the system.

Therefore, the disadvantages of this guidance method include the dependence of the accuracy of guidance on the skills of the gunner, which worsens when tracking in a complex phono-target environment and when tracking moving targets.

Note that in a number of modern optical sights of control systems with television and / or thermal imaging cameras (TC), target tracking machines (ASD) are used, in which, after the target is detected by the gunner on the monitor, the tracking strobe is superimposed on the target and the ACS automatically follows the specified algorithm with the strobe the target and generates the mismatch signals - the coordinates of the target relative to the line of sight (V.V. Molebny. Optical-location systems. M: "Engineering", 1981, chapter 4). The output signals of the ACS are fed to the optical sight drives, which deploy the optical sight to reduce the mismatch signals and thus automatically track the target.

Such automated target tracking systems also have an angular tracking error associated with the angular error of the drives when tracking the target, especially when tracking a moving maneuvering target and when working in motion.

The aim of the invention is to increase the accuracy of guidance of the managed object to the target.

This goal is achieved due to the fact that in the method of aiming and aiming a controlled object, which consists in tracking the aiming line behind the target, forming the information field of the guidance channel, the line of zero control signals of which is combined with the aiming line, and the current angular deviation of the target relative to the line is measured aiming and turning the line of zero control signals of the information field of the guidance channel from the aiming line, in proportion to the measured angle the deviation of the target.

The determination of the angular coordinates of the target φ _x and φ _y relative to the aiming line (the optical axis of the sight) when tracking it and the shift of the line of zero control channel signals of the guidance channel from the aiming line, in proportion to the measured angular coordinates of the target, made it possible to increase the accuracy of pointing the target to the target, especially when working on the move and when hitting a moving and maneuvering target by eliminating operator tracking errors or automatic sight drives.

Figure 1-3 shows the drawings explaining the method of aiming and guidance of controlled objects.

Figure 4 shows a block diagram of an optical system for aiming and guiding controlled objects.

Figure 1 conditionally presents the monitor screen of a television (or thermal) channel, the reticle in the form of an arrow, the upper end of which is aligned with the optical axis of the sight, the target image with the coordinates φ _x and φ _y and the capture gate of the tracking machine (AC strobe).

The crosshairs of the U and X axes correspond to the position of the aiming point, which coincides with the optical axis of the sight and, accordingly, with the aiming line (LP). The target is shifted relative to the aiming point due to a tracking error, but it is located in the tracking gate of the target tracking automaton.

Figure 2 conditionally shows the information field (IP) of the guidance channel for the prototype, when the line of zero signal (LNS) control (the center of the laser raster) is aligned with the LP, but there is an angular error tracking the target located in the strobe of the tracking machine.

Figure 3 conditionally shows the information field (IP) of the guidance channel for the proposed guidance method, when the LNS of the control is shifted relative to the PL by an amount Δφ corresponding to the target coordinates φ _x and φ _y measured by the tracking machine.

From the consideration of FIGS. 2 and 3, it follows that by constantly adjusting the LNS of the control of the information field of the guidance channel relative to the laser of the optical sight by angular displacement of the LNS of the control from the laser by an amount proportional to the value of the target coordinates measured by the television (thermal imaging) channel, thereby eliminating the error during tracking by the operator of the target, and, as a result, increase the accuracy of pointing the controlled object to the moving target.

A device explaining the proposed method of aiming and pointing (Figure 4), consists of an optical sight 1, which is placed optically coupled television or thermal imaging channel 2 and a transmitting module (PM) of the guidance channel (KN) of the laser teleorientation system 3, the guidance and stabilization drive optical sight 4, control signal conversion unit 5, target tracking automaton (ASC) 6, control command sensors (DCU) of drives and ASC 7, monitor (video monitoring device) 8, zoom unit 9, electronic control unit Ia teleorientatsii laser system 10. Figure 4 contains the gunner 15 conventionally.

The electronic control unit of the laser teleorientation system 10, when using PM based on scanning laser radiation with acousto-optical deflectors (RF Patent No. 22363626, MKI H04B 10/10, 04/14/2003), contains a block for generating raster and clock signals 13 (BFKR and SS), block generating correction signals 14 (BFSK), a multi-input adder 12 and a two-channel frequency synthesizer 11.

The guidance method is as follows. In the optical sight 1, before starting work, the television (thermal imaging) channel (TC 2) and the transmitting module of the guidance channel 3 are mutually aligned, i.e. when creating the information field of the guidance channel guidance line zero control signals (center IP) coincides with the line of sight of the optical sight, defined by the crosshairs on the screen of the video control device (monitor) 8 of the television (thermal) channel 2, as shown in Fig.2.

The gunner 15, having detected the target image on the screen of the monitor 8, moving the joystick for controlling the drives of the DCU 7, sets the speed of pointing the OP along the angular coordinates and, controlling the drives of the optical sight 1, tries to combine the crosshairs on the screen of the monitor 8 with the target. On the monitor screen there is an image of the target capture strobe, which in the initial state, without auto tracking, periodically changes the brightness. When entering the target image inside the tracking gate, the gunner presses the “Capture” button of DCU 7 and the sight switches to automatic tracking of the target, trying to combine the crosshairs of the sight (line of sight) with the target. In auto tracking mode, the image of the target capture strobe on the monitor screen does not change the brightness. The target is inside the tracking strobe, but due to drive errors, it is offset from the aiming line by the angles φ _x and φ _y , as shown in Fig. 1. ACS 6 converts the value of this angular mismatch into the signals of the control commands, which are fed through the BPSU 5 to the actuators 4 of the sight 1, for tracking the target, and also fed to the BM 9. The output signals Da of the scaling unit 9 are fed to the adder 12 of the electronic unit 10. V adder 12, these signals are summed with the internal signals Dp, Dк, generated respectively by the block generating the raster codes and clock signals 13 and the block generating the correction signals 14. Signals Dp provide the formation of a laser raster with a given size s at the current time. Signals Dk provide the initial shift of the laser raster during the initial alignment of the sight (Figure 4). At the output of adder 12, Dt codes are generated, which are fed to a two-channel frequency synthesizer 14. In it, Dt codes are converted into time-tunable high-frequency control signals fz _c and fy _c . These signals are fed to the acousto-optical deflector of the transmitting module of guidance channel 3, causing the angular displacement of the LNS control from the PL by a value proportional to the value of the target coordinates measured by the television (thermal imaging) channel (Figure 2).

The scaling unit 9 provides a pairing of the values of the target designation commands and the angular displacement of the LNS control from the LP.

. Его проекции на координатные оси x и y равны φ_x и φ_y (Фиг.1).Let the magnitude of the angular coordinate vector of the target relative to the crosshair of the sight, measured by the ASC, equal

. Its projections on the coordinate axes x and y are equal to φ _x and φ _y (Figure 1).

The module of the angular coordinate vector of the target can be written as

where ho is the target displacement in the focal plane of the input lens of the TC having a focal length Fo.

Otherwise, you can write: φц · Kо = Dц,

where Kо is the coefficient of proportionality,

Dc is the numerical code of the target position, shifted by an angle φc relative to the line of sight. The code Dс is generated at the output of the ACS and, therefore, it is equal to

The deflection angle of the laser beam at the PM output KH is determined by the expression γd = Kd · Da · Gp,

where Kd is the joint coefficient of proportionality for the frequency synthesizer and acousto-optical deflector,

GP - the multiplicity of the output telescope PM,

Da is the value of the control code applied to the input of the frequency synthesizer.

So, for example, for an acousto-optical deflector made of a paratellurite single crystal and a frequency synthesizer having a 13-bit control input for each channel, the joint proportionality coefficient Kd is 1.35 angles. seconds per command unit.

Given that to compensate for the angular errors of the drives, the angular displacement of the LNS control should be equal to the value of the angular coordinates of the target measured by the television (thermal imaging) channel, i.e. φc = γd, we determine the transfer coefficient of the scaling unit 9 in the form: Kbm = Da / Dc = (Kd · Ko · Gp) ^-1 .

Thus, after the “Start” command has been issued and the managed product has disappeared, in the absence of special excess commands, it flies along the line of zero control commands combined with the target.

The reduction of the pointing error in the process of tracking the sight of the target behind the moving target is due to the fact that the frequency band of the tracking drive is small and, as a rule, is units of Hz. This is due to the rather large masses of servo mirrors or the entire equipment of the sight, which the drive to track the sight should move. The control frequency band of the laser control channel when using low-inertia acousto-optical deflectors to control the angular position of the laser control beam exceeds 100 Hz with the accuracy of the angular positioning of the laser beam of a fraction of angular seconds.

The information field of the guidance channel created in this way allows more precise control of the object, ensuring that it hits the target.

Claims (1)

The method of aiming and aiming a controlled object, which consists in tracking the aiming line for the target, forming the information field of the guidance channel, the line of zero control signals of which is combined with the aiming line, characterized in that the target coordinates are measured using the target tracking automaton, which determine the angular deviation of the target relative to aiming lines, and carry out a turn of the line of zero control signals of the information field of the guidance channel from the aiming line, in proportion the angular deviation of the target, measured by applying control signals to the acousto-optical deflector of the transmitting module of the guidance channel.

Images