RU2451907C1 - Integrated navigation and aiming system - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: integrated navigation and aiming system comprises the following, interconnected by a data exchange line: a base navigation system, viewing and aiming apparatus for detecting and tracking targets, communication apparatus, as well as units for generating navigation parameters, controlling, generating coordinates of reference points, generating aircraft coordinates and memory. The integrated navigation and aiming system of a single aircraft operates as follows. In conditions when the base navigation system enables high-precision determination of aircraft coordinates (with correction from radio navigation apparatus for a known period of time for independent calculation after correction), the integrated navigation and aiming system, through the viewing and aiming apparatus, enables high-precision determination of relative coordinates of reference points and further - geographic coordinates of the reference points. These coordinates are stored in the on-board memory unit of the integrated navigation and aiming system. During flight, a bank of reference points with accurate coordinates accumulates, said coordinates being used to increase accurate of base navigation system.

EFFECT: high accuracy of determining coordinates of aircraft, reference points, any pairs of aircraft within a group, ensuring equal accuracy of determining coordinates of aircraft in a group.

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Description

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

The closest analogues are complex systems (CS), given in the books [3] (pp. 6-16, 391-507) and [1] (pp. 354-357), include a basic navigation system, a computer, an overview, sighting devices, communication equipment, means of indication and control.

положения ЛА относительно земной системы координат.The basic navigation system (as a rule, a platform or strapdown inertial navigation system, heading vertical and air signal system operating in autonomous and adjustable modes), performs the formation of aircraft navigation parameters: coordinates, speed, course, orientation angles. These data are used in the calculator when solving problems of general aircraft navigation, navigation, information support for solving aiming problems and group action tasks. In particular, a vector is formed

the position of the aircraft relative to the Earth's coordinate system.

Survey and sighting devices (optical-location station, radar station, range finder) carry out the formation of the relative coordinates of the target (landmark) relative to the aircraft: inclined range and viewing angles. These data are used in the calculator when solving aiming problems, in particular for determining the geographical coordinates of a target (landmark):

- вектор положения цели (ориентира) относительно земной системы координат;Where

- the vector of the position of the target (landmark) relative to the earth's coordinate system;

- вектор положения ЛА относительно земной системы координат;

- the vector of the position of the aircraft relative to the Earth's coordinate system;

- вектор относительного положения цели (ориентира) относительно ЛА.

is the vector of the relative position of the target (landmark) relative to the aircraft.

(i - номер ЛА внутри группы), каждый из которых формируется навигационной системой i-го ЛА. Эти данные используются в вычислителе i-го ЛА для формирования вектора

относительного положения i-го и j-го ЛА, который используется при решении задач групповых действий:Communication means exchange information between aircraft during their joint and group actions. In particular, the exchange of data on the values of vectors

(i is the number of the aircraft within the group), each of which is formed by the navigation system of the i-th aircraft. These data are used in the calculator of the i-th aircraft to form a vector

relative position of the i-th and j-th aircraft, which is used in solving tasks of group actions:

используются при групповом вождении для индикации всех ЛА группы на индикаторах тактической обстановки i-го ЛА.In particular, the calculated parameters

are used during group driving to indicate all aircraft of the group on indicators of the tactical situation of the i-th aircraft.

The closest analogue has a number of significant disadvantages:

- the accuracy of determining the geographical coordinates of the aircraft is completely determined by the errors of the basic navigation system of the aircraft, which can reach significant values;

- the accuracy of determining the geographical coordinates of the target (landmark) depends on the accuracy of determining the geographical coordinates of the aircraft on board which they are determined;

- the accuracy of determining the relative coordinates of two aircraft depends on the accuracy of determining the geographical coordinates on each aircraft;

- the accuracy of determining the geographical coordinates of each aircraft in the group is different - for some aircraft it can be high, but for others it can be low.

The objective of the invention is to remedy these disadvantages, namely:

- improving the accuracy of determining the coordinates of each aircraft;

- improving the accuracy of determining the geographical coordinates of targets (landmarks);

- improving the accuracy of determining the relative coordinates of any pairs of aircraft in the group;

- ensuring equal accuracy in determining the coordinates of the aircraft group.

This result is achieved by the fact that the complex system containing the base navigation system connected to the information exchange highway, the block of sighting and sighting means for detecting and tracking targets, the communication means block, the navigation parameters generation unit, is additionally equipped with a control unit connected to the information exchange highway, a formation unit coordinates of the landmark, the block forming the coordinates of the aircraft, the memory block.

The drawing shows a block diagram of an integrated navigation and sighting system (KNPRS) aircraft containing:

1 - basic navigation system BNS;

2 - a block of sighting and sighting equipment BOPS;

3 - block communication means BSS;

4 - block forming the navigation parameters BFNP;

5 - control unit BU;

6 - block forming the coordinates of the landmark BFKOR;

7 - block forming coordinates LA BFKLA;

8 - power supply unit.

Information interconnection blocks KNPRS is carried out through the highway information exchange MIO 9.

The inputs / outputs of blocks BNS 1, BOPS 2, BSS 3, BFNP 4, BU 5, BFKOR 6, BFKLA 7, BP 8 are connected to MIO 9.

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. At the same time, these systems can work both in stand-alone mode and in adjustable mode, for example, using the built-in satellite navigation receiver. In the latter case, high accuracy is provided for determining the parameters of the aircraft motion. 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-radar station (OLS), thermal imaging station with automatic target tracking (FA), radar station (radar), radio or optical range finder. The BOPS unit 2 performs detection in space of the target (landmark), its capture and automatic tracking, while determining the relative coordinates of the target (landmark) relative to the aircraft (for example, in the form of the distance D to the target (landmark) and the rotation angles φ _y and φ _z line of sight relative to the normal and lateral axes of the aircraft, respectively).

Block BSS 5 provides information exchange between the aircraft group. The unit is a multi-channel complex of communications equipment (see [4], p.241) for maintaining stable two-way communication between crew members and the command and control center and between aircraft in the air, as well as for exchanging tactical information between aircraft during group operations.

Blocks BFNP 4, BU 5, BFKOR 6, BFKLA 7 are made in the form, for example, of single-processor computers ([2], p.31).

Block BP 8 is made in the form of, for example, operational or read-only memory ([2], p. 30).

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

KNPRS single aircraft operates as follows.

положения ЛА относительно земной системы координат. Если точность формирования этого вектора высока (например, при работе БНС 1 в режиме коррекции или если после перехода в автономный режим прошло немного времени и ошибки счисления не успели накопиться), то с помощью блока БОПС 2 осуществляется визирование характерной цели (ориентира) на земной поверхности, т.е. измерение вектора

относительного положения цели (ориентира) относительно ЛА. Данные о векторах

и

поступают в блок БФОР 6, в котором осуществляется формирование вектора

географических координат визируемого ориентира с помощью уравнения (1). Значение вектора

запоминается в блоке БП 8. Погрешность

определения этого вектора составляет при этом:The BNS 1 system measures and calculates the parameters of the aircraft’s movement, which through MIO 9 enter the BFNP 4 unit, in which the tasks of general aircraft navigation and navigation are solved, in particular, a vector is formed

the position of the aircraft relative to the Earth's coordinate system. If the accuracy of the formation of this vector is high (for example, when the BNS 1 was in correction mode or if a little time passed after switching to offline mode and the numbering errors did not have time to accumulate), then using the BOPS 2 unit, a characteristic target (landmark) is sighted on the earth’s surface , i.e. vector measurement

relative position of the target (landmark) relative to the aircraft. Vector Data

and

enter the block BFOR 6, in which the formation of the vector

geographic coordinates of the sighted landmark using equation (1). Vector value

memorized in the power supply unit 8. Accuracy

the definition of this vector is:

- погрешность определения в блоке БНС 1 вектора

которая в этом режиме имеет малую величину;Where

- the error of determination in the block BNS 1 vector

which in this mode is small;

- погрешность определения в блоке БОПС 2 вектора

которая имеет малую величину.

- the error in determining in the block BOPS 2 vector

which is small.

, которые достигают значительной величины

. Эти ошибки можно значительно уменьшить за счет проведения коррекции по запомненной цели (ориентиру), если координаты этой цели (ориентира) были измерены на борту ЛА еще при малых ошибках определения координат в блоке БНС 1. Это достигается тем, что точность координат цели (ориентира) полностью зависит от точности ЛА, которая имелась на момент измерения координат цели (ориентира) и сохраняется в них на протяжении всего полета. При повторном приближении ЛА к ориентиру, координаты которого были рассчитаны и запомнены в блоке БП 8, осуществляется его повторное визирование и измерение с помощью БОПС 2 относительных координат

. Вновь полученное значение вектора

и запомненное значение вектора

из блока БП 8 поступают в блок БФКЛА 7, в котором с помощью уравнения (1) осуществляется расчет нового значения вектора

. Это значение сравнивается со счисленным значением

, поступающим из блока БФНП 4, в результате сравнения формируется оценка погрешности счисления

, которая учитывается в дальнейшем в блоке БФНП 4 с целью повышения точности навигации. Погрешность формирования вектора

, а значит и погрешность коррекции вектора

, составляет величинуIn the future, when the BNS 1 is operating in an autonomous mode, errors in the formation of the vector accumulate over time

that reach a significant amount

. These errors can be significantly reduced by correcting for a remembered target (landmark) if the coordinates of this target (landmark) were measured on board the aircraft even with small errors in determining coordinates in the BNS block 1. This is achieved by the accuracy of the coordinates of the target (landmark) completely depends on the accuracy of the aircraft, which was available at the time of measuring the coordinates of the target (landmark) and stored in them throughout the flight. When the aircraft approaches the landmark again, the coordinates of which were calculated and stored in the BP unit 8, it is again sighted and measured using the BOPS 2 relative coordinates

. The newly obtained value of the vector

and the stored value of the vector

from BP unit 8 enter the BFKLA unit 7, in which, using equation (1), a new vector value is calculated

. This value is compared with the calculated value.

coming from the BFNP block 4, as a result of comparison, an estimate of the calculation error

, which is further taken into account in the BFNP block 4 in order to improve navigation accuracy. Vector formation error

, and hence the error of vector correction

is the value

,

,

- погрешность повторного визирования ориентира.Where

- the error of re-sighting the landmark.

много меньше накопленной величины

погрешности автономного счисления.Obviously, the quantity

much less than the accumulated value

errors of autonomous numbering.

The work of KNPRS as part of an aircraft group, in addition to that described for a single aircraft, is as follows.

его значение передается посредством блока БСС 3 на борт j-ых ЛА (i≠j). При этом в составе передаваемой информации передается также предполагаемая точность формирования

- оценка величины

. На борту каждого j-ого ЛА таким образом собирается информация обо всех запомненных ориентирах и точностях их координат. Блок БУ 5 выбирает из всех возможных ориентиров тот, точность координат которого наибольшая и который доступен для визирования собственными средствами БОПС 2. После осуществления выбора производится визирование этого ориентира и измерение соответствующего вектора

, После этого осуществляется коррекция счисления координат так, как это указано ранее для одиночного ЛА, а также с помощью уравнения (2) осуществляется расчет вектора относительного положения ЛА в группе.When forming on board the i-th aircraft vector

its value is transmitted via the FSU 3 to the j-th aircraft (i ≠ j). At the same time, the alleged accuracy of formation is also transmitted as part of the transmitted information.

- estimate of the value

. On board each j-th aircraft in this way information is collected about all the memorized landmarks and the accuracy of their coordinates. The BU 5 block selects from all possible landmarks the one whose coordinate accuracy is the greatest and which is available for sighting using BOPS 2 own means. After making a selection, this landmark is sighted and the corresponding vector is measured

, After that, the correction of the numbering of the coordinates is carried out as indicated earlier for a single aircraft, and also using equation (2), the vector of the relative position of the aircraft in the group is calculated.

In order to ensure equal accuracy in the correction of coordinates for all aircraft of the group, the group leader can, using BSS 3, transmit to all the aircraft the reference number selected by the commander as a reference. After correcting for this landmark on each aircraft, its current coordinates will have the same error, which is eliminated when determining the mutual coordinates of the aircraft group.

Thus, the introduction of the BU 5, BFKOR 6, BFKLA 7, BP 8 blocks into the complex system ensures efficient correction of the coordinates of the aircraft, both single and as part of a group, and provides high and equal accuracy for all aircraft, even if at least one of accurate navigation data. This significantly improves the quality of the solution of various special tasks of combat use of both a single aircraft and a group of aircraft.

The technical implementation examples show the achievement of a technical result in part: improving the accuracy of determining the coordinates of each aircraft; improving the accuracy of determining the geographical coordinates of landmarks; improving the accuracy of determining the relative coordinates of any aircraft pairs in the group; ensuring equal accuracy in determining the coordinates of the aircraft group, which increases the efficiency of the use of objects equipped with KNPRS.

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. Fomin A.V. Su-27. The history of the fighter. - M .: RA "Intervestnik", 2000

Claims (1)

Integrated navigation and sighting system, comprising a basic navigation system connected to the information exchange trunk, a block of sighting and sighting means for detecting and tracking targets, a communications means block, a navigation parameters generation unit, a memory unit, characterized in that a control unit is additionally connected to the information exchange trunk the choice of parameters of landmarks, a block for the formation of geographical coordinates of the sighted landmark, a block for the formation of geographical coordinates of the aircraft apparatus and estimates of the errors of their calculation when re-sighting the landmark.