RU2464520C2 - Formation method of missile control at direction to group of manoeuvring targets - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: distribution of targets between missiles and missile direction to the specified targets is based on calculation of future hypothetical target miss. According to the proposed invention, group of countermissiles (CM) is launched, and they are distributed as to certain air targets (AT) from the group so that conventional missile-target pairs are formed. For shaping of control signal all possible versions of missile-target pairs are determined, and optimum future hypothetical interception moment and minimum hypothetical target miss is calculated for each pair. Total hypothetical target miss at the present moment is calculated. Task of optimisation of total hypothetical target miss is solved and command of targeting at other targets is supplied to missiles.

EFFECT: higher accuracy of direction of missile group to group of high-speed manoeuvring targets.

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Description

The present invention relates to high-precision weapons systems, and specifically to missile guidance systems for hitting air targets. The predominant application of this method to repel the attack of a group of air targets.

A fairly large number of works are known that describe the methods of controlling missiles when they are aimed at air targets (CC). The main algorithm for the methods of pointing anti-missile (PR) to the CC is described in the work of the team of authors published in the journal Technical Cybernetics No. 6, page 116, 1992 and No. 6, page 186, 1993. The method consists in the sequence of actions after CC detection at distant approaches. There is continuous auto tracking and the issuance of target designations PR for accurate guidance using radar stations. Deviations from the trajectory were determined from the measured radar angular coordinates and the PR range. The command of the control and the detonation of the warhead were transferred aboard the PR. Given the transience of interception processes and the impossibility of human intervention in these processes, as well as the large required accuracy of guidance, the entire guidance process is carried out only using a computer. This explains that most of the missile guidance methods on the VC are based on the actions that provide using the computer the generation of a control signal on the PR based on the analysis of the dynamic characteristics of the guidance system, using numerical methods and modeling. Such guidance methods by generating a signal for controlling the PR do not allow reorienting a missile aimed at a specific target in case of an increase in miss when it approaches the CC.

There is a method of pointing anti-missile (PR) to individual ACs as part of a whole group of goals - patent RU No. 2253082 (publ. 2005). The essence of this method is that they measure the PR range to the center of the VC group, measure the speed of approach to the VC, as well as the angular velocities of the line of sight (LP) and transverse accelerations of the PR and generate control signals taking into account the values of the coefficients established for the measurements obtained.

The method is not suitable for hitting a group of targets, because tracking devices will record only single targets, and with the multiplicity of the CC missed control over the maneuvers of other targets from the group.

The method is not effective for hitting a group of targets.

Another way of pointing at a maneuvering target is the method described in patent RU No. 2254542 (publ. 2005), based on the formation of the guidance signal PR, by measuring the lateral acceleration of the center of rotation that appears at the time of the start of the maneuver. The essence of the method is that in a pair of "PR-VC" measure the distance between them, the current approach speed, the angular velocity of the drug and the lateral acceleration of each and generate control signals according to the ratios selected from the set parameters.

However, due to the low sensitivity of the tracking devices, it is not always possible to fix the moment of the beginning of the CC maneuver, which leads to a miss. In addition, the method is not implemented when the CC is in the form of a whole group. In this case, due to the multiplicity of goals, it is difficult to capture the moment of maneuver of individual units from the group of goals.

For most of the signs and the nature of the actions performed, the method described in RU patent No. 2229086 (publ. 2004) can be adopted as the closest analogue. The invention uses a minimax guidance algorithm and emphasizes that the method is especially good for maneuvering purposes.

The method consists in generating commands for guiding the missile at the target, taking into account the measurements for the “missile-target” pair of factors of their location, approach speeds, range, by summing the estimates of linear mismatch, the rate of change and acceleration of the target for two estimates of the range of this pair. By the ratio of the values obtained for two estimates of the measured parameters, the largest modulo of the received commands is selected to control the rocket.

However, this method uses advanced proportional navigation, and the choice of control is based on setting the program for the future movement of the maneuvering target, which is unknown, which leads to an increase in miss.

The aim of the proposed method is to control a group of missiles for their guidance at the VC as part of a multiple group of targets, as well as to increase accuracy when they are aimed at a group of maneuvering targets with the possibility, in cases of increased miss, to redirect to the nearest target.

The solution to this problem is carried out by constantly monitoring the trajectories of all air targets from the group by known methods, distributing targets on conditional missile-target pairs, determining the location of both participants in all pairs and identifying a future hypothetical miss for each pair, forming a control team for a new distribution VC between PRs (retargeting) based on calculated hypothetical misses for all pairs.

Achievable technical result from the implementation of the proposed method consists in the operational retargeting of the PR in the case of an increase in the hypothetical miss, as well as in the accuracy of guidance and the possibility of defeating all the CCs included in the multiple target group.

The essence of the proposed method consists in launching a group of missiles and pointing them at a group of maneuvering targets by commands from the control unit based on information obtained as a result of constant monitoring of the motion parameters of all missiles and all targets (in any known manner). They form conditional missile-target pairs by targeting a specific missile at a specific target. A constant calculation is carried out for each pair at discrete time instants of the future hypothetical miss at the hypothetical meeting time moment and the targets are redistributed between missiles based on the minimum amount of hypothetical misses of all pairs. Transmit signals of control actions on board the missiles to redirect them to new targets in case of increased hypothetical miss. They carry out further constant monitoring and formation of missile control teams according to the results of calculating the total hypothetical miss until its optimal value is reached for all pairs.

The proposed method is illustrated in the figure. Figure 1 shows a graph of the measurement of the total hypothetical miss.

The method is as follows. Missile defense (PR), aimed at air targets (CC), is carried out from a ground command post (KPU). The detection of CC and their observation is carried out using radio-linear means (radar). The algorithm of actions for generating missile control signals when pointing at a group of maneuvering targets at time {t *} is carried out in the sequence:

1. Using measuring tools, the parameters of motion of the PR and the CC are determined;

x _i , y _i - coordinates of the center of mass of the i-th PR;

x _öj , y _öj - coordinates of the center of mass of the j-th CC;

V _i is the speed of the i-th PR; V _öj is the speed of the j-th CC;

θ _i is the angle of inclination of the velocity vector of the i-th PR;

θ _öj is the slope of the velocity vector of the j-th CC.

2. For each pair (PR _i -VC _j ) in the vertical plane, the triangular reachability regions (TOD) of PR _i and VC _j are calculated for a number of future hypothetical meeting times and determine:

- the optimal hypothetical time of the meeting ϑ _ij corresponding to the minimum distance between the TOD PR _i and the TOD CC _j ;

, соответствующий наибольшему расстоянию между ТОД ПР_i и ТОД ВЦ_j в момент времени ϑ_ij;- hypothetical miss

corresponding to the largest distance between the TOD PR _i and TOD VC _j at time ϑ _ij ;

- optimal control of PR _i - α _ij (t *) if, after the distribution of goals, starting from time t *, PR _i will be guided to CC _j .

3. As a result of the calculation of hypothetical misses for all possible pairs (PR _i -ВЦ _j ), a matrix of hypothetical misses is formed

(i=1,…m), (j=1,…n),

(i = 1, ... m), (j = 1, ... n),

and matrix of optimal controls

A (t *) = [α _ij (t *)] (i = 1, ... m), (j = 1, ... n).

4. The problem of the minimum amount of hypothetical misses is solved.

where ℵ _ij are numbers taking the value 1 if, from the moment of time t * PR _i will be guided by the center _j , and 0 otherwise. This problem is an integer programming problem for which the Hungarian method is used [Romanovsky I.V. Algorithms for solving extreme problems. M .: Nauka, 1977].

As a result of solving the problem in step 4, we obtain the matrix ℵ (t *) = [ℵ _ij (t *)], consisting of zeros and ones.

5. Based on the calculation of the matrix ℵ (t *) = [ℵ _ij (t *)], the CPU for each PR _i assigns the number of CC _j to which PR _i will be guided from a given moment in time t * if ℵ _ij (t *) = 1.

6. From the matrix of optimal controls A (t *) = [α _ij (t *)] for the i-th PR, the control α _ij (t *) is selected, and this control is transferred to the board of PR _i .

7. During the time from t = t * to t = t * + Δt, each PR goes with a given constant control α _ij (t *) and switches to a new position corresponding to the time t = t * + Δt.

8. At the moment of time t = t * + Δt, they again begin to calculate the controls of all PRs, that is, they proceed to step 1.

Tracking the movement of all PRs and all VCs in newly formed conditional pairs is carried out constantly, fixing the point in time when the hypothetical miss increases and the calculation and analysis of miss matrices and control commands performed again, a command is sent to redirect the PR to the VC of another pair.

The guidance continues until all or part of the PR hit the indicated air defense (the distance between the PR _i and the air _defense center _j becomes less than the radius of the warhead), or all the air defense that were not hit passed the remaining PR.

The effectiveness of the method of formation of missile control to defeat the AC from a multiple group of targets is illustrated by the following example.

Consider pointing three PRs into a group of three CCs. The simulation was carried out for hypothetical aircraft with a conical shape with a half-angle for the VC of 10 ° and 25 ° for the PR. The ratio m _i / S _i for the CC is 750 kg / m ² , and for PR - 800 kg / m ² . The PR and CC departments met the restrictions: α _id = 25 °, n _yid = 30.

Modeling was carried out under the following initial conditions:

t ₀ = 0, V ₁ = V ₂ = V ₃ = 1700 m / s; θ ₁ = θ ₂ = θ ₃ = 1.3; y ₁ = y ₂ = y ₃ = 8000 m; x ₁ = 2000 m; x ₂ = 3000 m; x ₃ = 4000 m; V _c1 = V _c2 = V _c3 = 1600 m / s; θ _c1 = θ _c2 = θ _c3 = 4.14; y _c1 = y _c2 = y _c3 = 20,000 m; x _q1 = 7000 m; x _c2 = 8000 m; x _ts3 = 9000 m.

The equations of motion of PR and CC were integrated by the fourth-order Runge-Kutta method with a constant step h = 0.01 s. PR controls were selected at discrete time instants with a sampling step Δt = h.

To solve the task of distribution, the Hungarian method was used.

When modeling the control program, the CCs were set as follows:

в процессе наведения.Figure 1 shows the change in the total hypothetical miss CPU

in the guidance process.

- уменьшается до нуля и остается равным нулю до 2с, а затем суммарный гипотетический промах начинает медленно возрастать до первого момента перераспределения (это отмечено пунктирной линией 1), после чего уменьшается и вновь возрастает до второго момента перераспределения целей (пунктир 2).From the above data, summarized in figure 1 it follows that in this example

- decreases to zero and remains equal to zero to 2s, and then the total hypothetical miss starts to increase slowly until the first moment of redistribution (this is indicated by dashed line 1), after which it decreases and again increases to the second moment of redistribution of targets (dotted line 2).

The increase in the total hypothetical miss after 2s guidance is associated with a decrease in the speed and maneuverability of the PR at the final stage of guidance.

It should be noted that after each redistribution of goals, the total miss for some time decreases.

As a result of guiding the group using the considered algorithm, the following misses were obtained: r ₁₂ = 8 m; r ₂₃ = 14 m; r ₃₁ = 11 m.

In the process of guiding this example, two redistribution of goals was carried out. It should be noted that if the CC is not redistributed, then for this example the following misses are obtained: r ₁₁ = 160 m; r ₂₂ = 10 m; r ₃₃ = 66 m.

Thus, the proposed method for generating missile control signals on a CC from a multiple group of targets is operational. It allows you to improve the results of targeting and defeating multiple targets.

Studies of the proposed method, carried out using simulation, confirmed its high efficiency and performance. The inventive method provides guidance of the PR to the CC as part of a whole group of goals. Using the method does not require the use of new additional equipment, and the calculations are carried out according to conventional methods.

Claims (1)

The method of formation of missile control when pointing at a group of maneuvering targets, which consists in launching a group of missiles and pointing them at a group of maneuvering targets with commands from the control unit based on information obtained as a result of constant monitoring of the motion parameters of all missiles and all targets by known methods, by transmitting control signals to board missiles to target a specific missile at a specific target and the formation of conditional pairs "missile-target", characterized in that the control signals are formed by constant calculation for of each pair of the future hypothetical moment of the meeting and the minimax hypothetical miss at discrete points in time, the total hypothetical miss of all pairs is determined with the optimal distribution of missiles between the targets and they are redistributed with the formation of new pairs to achieve the minimum value of the total miss.

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