RU2498193C2 - Method of inertial auto-tracking of specified object of viewing and system for its implementation - Google Patents

Abstract

FIELD: instrument engineering.

SUBSTANCE: during the final preparation for launch mobile carrier, the signals are defined and set proportional to the initial coordinates on the slant range, on the angle of slope, on the azimuth of mutual position of the mobile carrier and originally specified object of viewing (OV) relative to the base of the integrated antenna device in the coordinate system connected to the center of mass of the mobile carrier. At that the operational signals are made in the form of a package of consecutive words that are proportional to the parameters of initial setting of the inertial measurement of parameters of viewing vector of the set OV in the local horizontal coordinate system. These signals convert the parallel form and the signals are formed according to them, proportional to the initial conditions of the setting of inertial direction finding of the set OV in the base antenna coordinate system.

EFFECT: increased accuracy.

2 cl, 8 dwg

Description

The present invention relates to automatic tracking systems of a given object of sight (OB), as well as to homing systems of mobile carriers with an inertial measuring system containing devices with a changing orientation of the antenna mirror, in particular, rotary-sensitive devices based on the use of gyroinertial sensors of spatial displacement signals mobile carrier.

The proposed technical solutions are intended for auto tracking of a given OB in range and direction, characterized by inertial direction finding parameters of a given OB in two mutually perpendicular direction finding planes in the base antenna coordinate system when moving a moving carrier and moving it closer to a given OB.

The proposed technical solutions can be applied:

- in autonomous (inertial) homing systems of mobile carriers on a given OB;

- in integrated integrated airborne homing systems (BSSN) as part of control systems and stabilization of mobile carriers.

When creating such systems, an important task is to provide increased

- the accuracy of the inertial auto-tracking of a given OB on the autonomous portion of the homing path of the mobile carrier, as well as the accuracy and noise immunity of the location-based auto-tracking of the OB;

- the performance characteristics of integrated integrated BSSN mobile carriers.

Known, for example, are the following methods for generating direction-finding signals and devices that implement them, described in the book by V. M. Artamonov “Tracking systems of radar stations for automatic tracking and control.” - ed. Shipbuilding: L; 1968 - p. 12-35, which examined:

- tracking system of a radar station of automatic tracking in the direction with conical scanning of the radiation pattern;

- tracking system radar auto tracking in the direction of single-pulse type;

- tracking system of a radar station of automatic auto tracking along range;

- tracking systems in radio links and homing systems;

- tracking systems in radio broadcasting.

The following technical solutions are also known:

1. The tracking device (JP 3627135 B2 7 G01S 13/66, 09/09/2005), which "contains a block 5 for determining the separation of the target tracking by measuring the magnitude of the vector C _{k, j} ; block 6 control the parameters of the tracking filter according to the results of block 5; block 2 smoothing to obtain the vector B _k (+) and covariant matrix P _k (+) smoothing errors; prediction unit 3 for obtaining a vector B _k (-) and a covariant matrix P _k (-) of prediction errors; block 4 for calculating the boundaries of escort ".

2. A processor for processing target tracking information (JP 3653216 B2 7 G01S 13/66, 05/25/2005), in which “processor 1 alone contains a block 3 for predicting the processing time of tracking data; block 4 real-time decision making, making a decision on tracking the target at some predetermined time, determined by block 3; block 5 for temporary storage of information about the observed target; a control unit 6 controlling the receipt of information about the observed target in the processor 1 ".

3. The target tracking coordinator (RU 2042101 C1 6F41G 7/00, 1995.08.20) "provides an increase in the accuracy of measuring the angular velocity of rotation of the object’s distance vector to the target and at the same time increases the range of the radio and optical channels for receiving the signal from the target, and more sensitive to signals from targets elements of these channels are installed on the inner frame of the gyrostabilized platform; the analysis units provide the connection of the outputs of these channels to the input of the power amplifier, the outputs of which are connected to the moment sensors of the gyrostabilized platform, the outer frame of which is installed in a plug installed in the object’s body with the possibility of rotation around the longitudinal axis of the object. "

4. The method of pointing the aircraft at a target (RU 2204785 C2 7 F41G 7/20 2001.01.15), in which “the values of geographical coordinates (GK) and altitude are entered into the calculator (B) of the fixed control panel (NPU) relative to the Earth Sea (VUM) NPU location. Preliminarily, in the NPC on the aircraft (LA) transmit on the radio link (RL) the values of the Civil Code and the VUM of the location of the NPC. In the process of guidance from the NPCs, an air target (VC) is irradiated, the radiation reflected from the VC is received at the NOC, and as a result of processing the received radiation, the distance value from the NOC to the VC and the elevation angle and azimuth of the direction from the NOC to the VC are measured. The measured values are entered into the NLP and the increment of the GK and VUM of the location of the aircrafts relative to the location of the NLP, as well as the values of the rates of change of these GK and the VUM, enter the accepted and measured values in the V LA, calculate the values of navigation errors (OH) of the LA on the VC corresponding to the specified observation method (MN), and create control actions that change the flight path of the aircraft in such a way as to eliminate the aircraft on the aircraft with a given MN. "

5. The method of pointing aircraft to ground objects (RU 2229671 C1 7 F41G 7/22, 2003.03.05), which measure the speed of the aircraft (LA), the distance to the ground object, the angle between the direction of the speed vector of the aircraft and the direction to a given object , as well as the lateral acceleration of the aircraft in the horizontal plane. A horizontal plane control signal is generated when proportional guidance is realized on a virtual moving ground object moving in a horizontal plane. The initial position and motion parameters of the latter are set based on the conditions for providing the required curved linear trajectory of the aircraft pointing at a real ground object using airborne radar tools using synthesized antenna apertures, or Doppler beam framing of the antenna radiation pattern. ”

6. A method for measuring the angular coordinates of an object and a radar station for its implementation (RU2291466 C1 05.26.2005), in which probing signals are emitted, signals are received and detected from the object, the levels of received signals are measured and the angular coordinates of the beam are measured corresponding to the received signals form a two-dimensional angular packets of received signals, perform an analysis of a two-dimensional angular packet of received signals based on which calculate the angular coordinates of the object.

The considered technical solutions are based on radar contact with the OB, provide the formation of direction finding signals OB based on the processing of the received radar signals obtained by reflecting them from the OB irradiated with sounding signals. The detection of OB direction finding signals cannot be carried out in the absence of radar contact with the OB.

Thus, none of the considered analogues is close in technical essence and cannot be adopted as a prototype of the proposed technical solutions.

The purpose of the claimed technical solutions (method and system for its implementation) is to provide inertial auto tracking of a given OB with increased accuracy on an autonomous inertial section of the homing path of a mobile carrier to a given OB, as well as increased accuracy and noise immunity of a radar auto tracking of OB.

, азимута

взаимного положения подвижного носителя и первоначально заданного OB. При этом в аппаратуре подготовки и управления пуском подвижного носителя, являющейся внешней по отношению к заявляемому изобретению, формируют штатные сигналы в виде пакета последовательных информационных слов, который содержит начальные значения:The essence of the invention lies in the fact that according to the proposed method, during pre-launch preparation for launching a mobile carrier, signals proportional to the initial values of the slant range L ₀ , the tilt angle are determined and set

azimuth

the relative position of the movable medium and the originally specified OB. At the same time, in the equipment for preparing and controlling the launch of the mobile carrier, which is external to the claimed invention, regular signals are formed in the form of a packet of successive information words that contains the initial values:

и азимута

заданного OB относительно основания антенного устройства, жестко установленного внутри корпуса подвижного носителя, в связанной, с центром масс подвижного носителя системе координат Ox₁y₁z₁ (фиг.4);- bearings, i.e. tilt angle

and azimuth

a predetermined OB relative to the base of the antenna device, rigidly mounted inside the housing of the mobile carrier, in the coordinate system Ox ₁ y ₁ z ₁ connected to the center of mass of the mobile carrier (Fig. 4);

сближения с заданным OB основания антенного устройства вместе с подвижным носителем в предстартовом положении (фиг.1);- oblique range L ₀ to a given OB and oblique speed

rapprochement with a given OB of the base of the antenna device together with the movable carrier in the prelaunch position (figure 1);

- yaw Ψ ₀ , pitch ϑ ₀ and roll γ _{0 of the} movable carrier together with the base of the antenna device (Fig. 5), as well as the initial conditions for exhibiting inertial direction finding of a given OB, i.e. standard signals proportional to the initial values;

,

,

вектора

линейной скорости предстартового движения основания антенного устройства вместе с подвижным носителем на соответствующие, оси местной горизонтальной системы координат О_ξηζ, (фиг.1, фиг.3);- projections

,

,

of vector

the linear speed of the prelaunch motion of the base of the antenna device together with the movable carrier to the corresponding axis of the local horizontal coordinate system O _ξηζ , (Fig. 1, Fig. 3);

- Cartesian coordinates ξ ⁰ (D ₀ ), η ⁰ (Н ₀ ), ζ ^{0 of the} moving carrier in the local horizontal coordinate system O _ξηζ (Fig. 1);

подвижного носителя (фиг.1) и, кроме того сигналы, пропорциональные необходимым режимным параметрам дальности, контрольное слово и командное слово.- longitudes λ ₀ and geographical latitude

mobile carrier (figure 1) and, in addition, signals proportional to the required range operating parameters, control word and command word.

Next, the generated signals are checked in the form of a packet of sequential information words for the absence of distortions in them. After that, the signals characterizing the package of sequential information words on board the mobile carrier are converted into parallel form to ensure the formation of inertial direction finding signals of a given OB. Then, on board the mobile carrier, signals are proportional to the initial conditions of the exhibition of the inertial meter of the parameters of the vector of sight of a given OB into signals proportional to the initial values:

,

,

вектора

линейной скорости предстартового перемещения основания антенного устройства вместе с подвижным носителем на соответствующие оси базовой антенной системы координат Oxyz (фиг.1, фиг.2), находящимся на стартовом устройстве подвижной платформы;- projections

,

,

of vector

the linear velocity of the prelaunch movement of the base of the antenna device together with the mobile carrier on the corresponding axis of the base antenna coordinate system Oxyz (Fig. 1, Fig. 2) located on the starting device of the mobile platform;

и

визирования заданного OB соответственно в горизонтальной и в вертикальной плоскости в местной горизонтальной системе координат О_ξηζ (фиг.1, фиг.3);- angles

and

sighting a given OB, respectively, in a horizontal and a vertical plane in a local horizontal coordinate system O _ξηζ (FIG. 1, FIG. 3);

,

пространственной угловой координаты

заданного OB, т.е. параметров инерциального пеленгования в двух взаимно перпендикулярных плоскостях его пеленгования в базовой антенной системе координат Oxyz (фиг.1, фиг.2), которые характеризуют сигналы рассогласования между направлением оптической оси зеркала антенного устройства и направлением не заданной OB в соответствующих плоскостях пеленгования;- components

,

spatial angular coordinate

given OB, i.e. inertial direction-finding parameters in two mutually perpendicular direction-finding planes in the Oxyz base antenna coordinate system (FIG. 1, FIG. 2), which characterize the mismatch signals between the direction of the optical axis of the mirror of the antenna device and the direction of an unspecified OB in the corresponding direction-finding planes;

где i, j=1,2,3, определяющих начальное взаимное положение базовой антенной системы координат Oxyz и опорной геоцентрической системы координат Оξ₀η₀ζ₀, связанной одной своей осью Сζ₀ ^. с заданным OB, расположенным на земной поверхности (фиг.1).- guide cosines

where i, j = 1,2,3, which determine the initial mutual position of the base antenna coordinate system Oxyz and the reference geocentric coordinate system Оξ ₀ η ₀ ζ ₀ , connected by its single axis Сζ ₀ ^. with a given OB located on the earth's surface (figure 1).

,

,

вектора

кажущегося линейного ускорения движения и проекциям

,

,

вектора

абсолютной угловой скорости поворота зеркала интегрированного антенного устройства на соответствующие оси системы координат Ox_Зy_Зz_З, связанной с зеркалом интегрированного устройства.At the time of the start of the mobile carrier, the update of the signals of the initial determination and establishment of the coordinates of the given OB and the signals of the initial inertial measurement of the parameters of the vector of sight of the given OB (i.e., the signals of the initial information) is also stopped during the beginning of its movement along the path along with the base of the integrated antenna device simultaneously measure signals proportional to projections

,

,

of vector

apparent linear acceleration of motion and projections

,

,

of vector

the absolute angular velocity of rotation of the mirror of the integrated antenna device on the corresponding axis of the coordinate system Ox _З y _З z _{З З} connected with the mirror of the integrated device.

кажущегося линейного ускорения движения и проекциям ω_x, ω_y, ω_z вектора

абсолютной угловой скорости поворота вектора визирования заданного OB на соответствующие оси базовой антенной системы координат Oxyz. Далее формируют по полученным сигналам с учетом сигналов, определенных и установленных во время предстартовой подготовки подвижного носителя, сигналы, пропорциональные текущим значениям параметров вектора визирования заданного OB, характеризующиеся:According to these measured signals, taking into account the non-linear dependence of the rotation of the line (vector) of sighting of a given OB in the angle of inclination and in azimuth from the rotation of the mirror of the antenna device, respectively, in the angle of inclination and azimuth, i.e. taking into account the so-called variable electrical reduction, determine the signals proportional to the projections n _x , n _y , n _{z of the} vector

apparent linear acceleration of motion and projections ω _x , ω _y , ω _{z of the} vector

the absolute angular velocity of rotation of the vector of sight of a given OB on the corresponding axis of the base antenna coordinate system Oxyz. Next, the signals are generated based on the received signals, taking into account the signals detected and established during the prelaunch preparation of the mobile carrier, signals proportional to the current values of the parameters of the vector of sight of a given OB, characterized by:

линейной скорости сближения с заданным OB основания интегрированного антенного устройства вместе с подвижным носителем на оси базовой антенной системы координат;- projections V _x , V _y , V _{z of the} vector

linear approach speed with a given base OB of the integrated antenna device along with a movable carrier on the axis of the base antenna of the coordinate system;

сближения с заданным OB основания интегрированного антенного устройства вместе с подвижным носителем;- oblique range L and oblique speed

rapprochement with a given base OB of the integrated antenna device together with a movable carrier;

- a mismatch ΔL between a given initial value of the inclined range L ₀ to the specified OB and the current value of the inclined range L of approach with the given base OB of the integrated device together with the mobile carrier;

- signals e ₁ , e ₂ inertial direction finding of a given OB in two mutually perpendicular direction finding planes in the base antenna coordinate system Oxyz;

- guide cosines β _ij , where i, j = 1,2,3, of the mutual current angular position of the base antenna coordinate system Oxyz and the reference geocentric coordinate system Оξ ₀ η ₀ ζ ₀ , connected by its own axis Сζ ₀ with a given OB located on the earth's surface.

According to the received signal, proportional to the mismatch ΔL between the given initial value of the inclined range L ₀ to the specified OB and the current value of the inclined range L of approaching with the given base OB of the integrated antenna device, together with the mobile carrier, inertial auto-tracking of the given OB in range is performed.

и

изменения углов визирования заданного OB, определяющих текущее направление вектора визирования на заданный OB в горизонтальной и в вертикальной плоскости, обусловленного перемещением основания интегрированного антенного устройства вместе с подвижным носителем по направлению к заданному OB.The received signals, proportional to the parameters e ₁ , e ₂ , inertial direction finding of a given OB in two mutually perpendicular direction-finding planes in the base antenna coordinate system, are converted by integrating them in a closed loop inertial auto tracking of a given OB in the direction into control signals proportional to the speed, respectively

and

changes in the viewing angles of a given OB, which determine the current direction of the vector of sight on a given OB in the horizontal and vertical plane, due to the movement of the base of the integrated antenna device together with the mobile carrier in the direction of the specified OB.

и

изменения соответствующих углов визирования заданного OB. Одновременно определяют сигналы пропорциональные рассогласованию между направлением вектора кинетического момента ротора гироскопа и направлением на заданный OB, сформированным сигналами, пропорциональными скорости

и

изменения углов визирования заданного OB в горизонтальной и в вертикальной плоскости и соответственно возмущаемыми управляющими моментами. Эти сигналы преобразуют в сигналы управления электродвигателями поворота соответствующих рамок двухосного карданова подвеса интегрированного антенного устройства. По сигналам управления электродвигатели развивают поворотные моменты, равные и совпадающие по направлению с направлением соответствующих возмущающих управляющих моментов, для поворота наружной и внутренней рамок двухосного карданова подвеса интегрированного антенного устройства и шарнирно связанного с ним зеркала в текущее направление на заданный OB, тем самым замыкают контур инерциального автосопровождения заданного OB и определяют сигналы, пропорциональные отработанным значениям угла наклона

и азимута

заданного OB относительно основания интегрированного антенного устройства в системе координат, связанной с центром масс подвижного носителя.To do this, these control signals act on the corresponding moment sensors of a controlled three-stage gyroscope installed in the internal biaxial cardan suspension of the integrated antenna device, the outer and inner frames of which are pivotally connected to its mirror (Fig. 7, Fig. 8). Under the action of these control signals, disturbing control moments are generated that cause the moments of the gyroscopic reaction in the supports of the precession axes of the corresponding frames of the triaxial cardan suspension of the gyro rotor. In this case, according to the precession theory of the gyroscope, a precession deviation of the corresponding framework of the triaxial cardan suspension of the gyro rotor with an angular velocity close to the angular velocity

and

changes in the corresponding viewing angles of a given OB. At the same time, signals proportional to the mismatch between the direction of the vector of the kinetic moment of the gyro rotor and the direction to a given OB formed by signals proportional to the speed are determined

and

changes in the viewing angles of a given OB in the horizontal and vertical planes and, accordingly, perturbed control moments. These signals are converted into control signals of the rotation motors of the corresponding frames of the biaxial cardan suspension of the integrated antenna device. According to the control signals, the electric motors develop rotational moments equal and coinciding in direction with the direction of the corresponding disturbing control moments to rotate the outer and inner frames of the biaxial cardan suspension of the integrated antenna device and the articulated mirror in the current direction to a given OB, thereby closing the inertial circuit auto tracking of a given OB and determine signals proportional to the worked out values of the angle of inclination

and azimuth

a predetermined OB relative to the base of the integrated antenna device in the coordinate system associated with the center of mass of the mobile carrier.

его ротора в заарретированном положении гироскопа совпадает с нулевым направлением линии визирования ИАУ. Гироскоп содержит трехосный карданов подвес ротора, датчик сигнала угла прецессии внутренней рамки трехосного карданова подвеса ротора гироскопа и датчик сигнала угла прецессии наружной рамки трехосного карданова подвеса ротора гироскопа, датчик сигнала момента управления направлением поворота внутренней рамки трехосного карданова подвеса ротора гироскопа, датчик сигнала момента управления направлением поворота наружной рамки трехосного карданова подвеса ротора гироскопа. При этом ось собственного вращения ротора гироскопа установлена во внутренней рамке трехосного карданова подвеса ротора гироскопа, ось поворота которой установлена в наружной рамке трехосного карданова подвеса ротора гироскопа, ось поворота которой, в свою очередь, установлена в корпусе гироскопа. Корпус гироскопа жестко закреплен во внутренней рамке трехосного карданова подвеса ИАУ. На соответствующих осях поворота рамок трехосного карданова подвеса ротора гироскопа установлены соответственно датчики сигналов угла прецессии внутренней рамки и наружной рамки трехосного карданова подвеса ротора гироскопа. ИАУ также включает в свой состав электронный узел гиростабилизации и управления направлением зеркала ИАУ на OB по углу наклона, электронный узел гиростабилизации и управления направлением зеркала ИАУ на OB по азимуту, а также усилители сигналов обратной связи в соответствующих каналов двухканального гироскопического датчика измерения составляющих вектора абсолютной угловой скорости поворота зеркала ИАУ. Двухканальный гироскопический датчик угловой скорости (ДУС) (фиг.7, фиг.8) установлен во внутренней рамке двухосного карданова подвеса ИАУ так, что в заарретированном положении одна из его осей чувствительности совпадает с направлением линии визирования ИАУ, а другая его ось чувствительности ориентирована, например, вверх вдоль положительного направления оси поворота внутренней рамки двухосного карданова подвеса ИАУ. При этом направление вектора кинетического момента

ротора гироскопического ДУС совпадает с положительным направлением оси поворота наружной рамки двухосного карданова подвеса ИАУ. Все три акселерометра, измеряющих соответственно проекции вектора кажущегося линейного ускорения, установлены во внутренней рамке двухосного карданова подвеса ИАУ так, что ось чувствительности одного из них взаимно ортогональна по отношению к взаимно ортогональным осям чувствительности двух других однокомпонентных акселерометров, измеряющих соответствующие проекции кажущегося линейного ускорения. При этом ось чувствительности одного из трех однокомпонентных акселерометров совпадает в заарретированном положении с нулевым положением линии визирования ИАУ. Выходы соответствующих датчиков сигналов угла прецессии внутренней рамки и наружной рамки трехосного карданова подвеса ротора гироскопа соединены с входом соответствующих узлов гиростабилизации и управления направлением зеркала ИАУ на заданный OB по углу наклона и по азимуту, выходы которых, в свою очередь, соединены соответственно с электродвигателями поворота наружной рамки и внутренней рамки двухосного карданова подвеса ИАУ. При этом выходы датчиков сигналов угла прецессии внутренней и наружной рамок трехосного карданова подвеса ротора двухканального гироскопического ДУС соединены со входом соответствующих усилителей сигнала обратной связи, выходы которых соединены соответственно с датчиками сигналов момента внутренней и наружной рамок трехосного карданова подвеса ротора двухканального гироскопического ДУС. 3еркало выполнено с возможностью поворота в двух взаимно перпендикулярных плоскостях с помощью двухстепенного шарнира относительно центра излучения облучателя, жестко закрепленного на основании ИАУ. При этом зеркала шарнирно соединено тягами механического координатора ИАУ соответственно с наружной рамкой и с внутренней рамкой двухосного карданова подвеса ИАУ так, что расстояние между каждым из шарниров на задней поверхности и его центром поворота равно расстоянию между каждым из шарниров, установленных соответственно на наружной рамке и внутренней рамке двухосного карданова подвеса ИАУ, и центром поворота этих рамок. ИАУ включает в свой состав также электронный узел формирования управляющего сигнала, пропорционального задаваемой угловой скорости поворота зеркала в вертикальной плоскости, электронный узел формирования управляющего сигнала, пропорционального задаваемой угловой скорости поворота зеркала в горизонтальной плоскости, и, кроме того, электронный узел масштабирования сигнала, снимаемого с выхода электронного узла формирования управляющего сигнала задаваемой угловой скорости поворота зеркала в вертикальной плоскости, соединенного с входом датчика сигнала момента управления направлением поворота наружной рамки трехосного карданова подвеса ротора гироскопа. Причем сигнал, снимаемый с выхода электронного узла масштабирования сигнала с выхода электронного узла формирования управляющего сигнала угловой скорости поворота зеркала в вертикальной плоскости, пропорционален проекции

вектора абсолютной угловой скорости поворота зеркала ИАУ на поперечную ось Oz₃ системы координат Ox_Зy_Зz_З, связанной с зеркалом. Выход электронного узла формирования управляющего сигнала, пропорционального задаваемой угловой скорости

, поворота зеркала в горизонтальной плоскости, соединен с входом датчика сигнала момента управления направлением поворота внутренней рамки трехстепенного карданова подвеса ротора гироскопа.The invention also lies in the fact that the system implementing the method, characterized in that it consists of a narrow-band circuit of inertial auto tracking and a wide-band gyrostabilization circuit. and controlling the direction of the vector of sight of a given OB (FIG. 6), contains an inertial discriminator (FIG. 6) of direction-finding signals of a given OB in two mutually perpendicular direction-finding planes in the Oxyz base antenna coordinate system (FIG. 1, FIG. 2), which includes its composition is a digital computing device (CVD) and an integrated antenna device (IAU) (Fig.6, Fig.7). IAU contains a mirror with an irradiator and a waveguide-switching device (VKU), a biaxial cardan suspension, the axis of rotation of the outer frame of which is installed on the base of the IAU, and the axis of rotation of the inner frame is installed in the outer frame perpendicular to its axis of rotation, an electric motor of rotation of the outer frame of the biaxial cardan suspension and an electric motor for turning the inner frame of the biaxial cardan suspension. The IAU contains a signal of the angle of rotation of the outer frame of the biaxial cardan suspension, a sensor of the signal of the angle of rotation of the inner frame of the biaxial cardan suspension, respectively, by the angle of inclination and azimuth, as well as a controlled three-stage gyroscope, a two-channel gyroscopic sensor of angular velocity (TLS), three one-component accelerometers (Fig. 7, Fig. 8). Moreover, a controlled three-stage gyroscope is installed in the internal frame of the biaxial cardan suspension of the IAU so that the direction of the kinetic moment vector

its rotor in the locked position of the gyro coincides with the zero direction of the line of sight of the IAU. The gyroscope contains a triaxial cardan suspension of the rotor, a signal of the precession angle signal of the inner frame of the triaxial cardan suspension of the gyroscope rotor and a signal signal of the angle of precession of the outer frame of the triaxial cardan suspension of the gyroscope rotor, a signal of the moment of control of the direction of rotation of the inner frame of the triaxial cardan suspension of the gyroscope rotor, a directional control signal rotation of the outer frame of the triaxial cardan suspension of the gyro rotor. In this case, the axis of proper rotation of the gyroscope rotor is installed in the inner frame of the triaxial cardan suspension of the gyroscope rotor, the rotation axis of which is installed in the outer frame of the triaxial cardan suspension of the gyroscope rotor, the rotation axis of which, in turn, is installed in the gyroscope case. The gyroscope body is rigidly fixed in the inner frame of the IAU's triaxial cardan suspension. On the corresponding rotation axes of the frames of the triaxial cardan suspension of the gyro rotor, sensors of precession angle signals of the inner frame and the outer frame of the triaxial cardan suspension of the gyro rotor are respectively installed. The IAU also includes an electronic unit for gyro stabilization and control of the direction of the mirror of the IAU on the oblique angle, an electronic unit of gyrostabilization and control of the direction of the mirror of the IAU to the obi in azimuth, as well as amplifiers of feedback signals in the corresponding channels of the two-channel gyroscopic sensor for measuring the components of the absolute angular vector mirror rotation speed IAU. A two-channel gyroscopic angular velocity sensor (DLS) (Fig. 7, Fig. 8) is installed in the internal frame of the biaxial gimbal of the IAU so that in a locked position, one of its sensitivity axes coincides with the direction of the IAU line of sight, and the other of its sensitivity axis is oriented, for example, up along the positive direction of the axis of rotation of the inner frame of the biaxial gimbal of the IAU. In this case, the direction of the kinetic moment vector

the rotor of the gyroscopic TLS coincides with the positive direction of the axis of rotation of the outer frame of the biaxial cardan suspension of the IAU. All three accelerometers, respectively measuring projections of the apparent linear acceleration vector, are installed in the internal frame of the IAU biaxial gimbal so that the sensitivity axis of one of them is mutually orthogonal to the mutually orthogonal sensitivity axes of the other two one-component accelerometers, which measure the corresponding projections of the apparent linear acceleration. In this case, the sensitivity axis of one of the three one-component accelerometers coincides in the locked position with the zero position of the IAU line of sight. The outputs of the corresponding sensors of the precession angle signals of the inner frame and the outer frame of the triaxial cardan suspension of the gyroscope rotor are connected to the input of the corresponding gyro stabilization units and control the direction of the IAU mirror to a given OB in the angle of inclination and in azimuth, the outputs of which, in turn, are connected respectively to the external rotation motors the frame and the internal frame of the biaxial gimbal of the IAU. In this case, the outputs of the signal sensors of the angle of precession of the internal and external frames of the triaxial cardan suspension of the rotor of the two-channel gyroscopic CRS are connected to the input of the corresponding amplifiers of the feedback signal, the outputs of which are connected respectively to the signal sensors of the moment of the internal and external frames of the triaxial cardan suspension of the rotor of the two-channel gyroscopic CRS. The mirror is made to rotate in two mutually perpendicular planes using a two-degree hinge relative to the center of radiation of the irradiator, rigidly fixed to the base of the IAU. In this case, the mirrors are pivotally connected by rods of the IAU mechanical coordinator to the outer frame and to the inner frame of the IAU biaxial gimbal, so that the distance between each of the hinges on the rear surface and its center of rotation is equal to the distance between each of the hinges mounted on the outer frame and the inner the frame of the biaxial gimbal of the IAU, and the center of rotation of these frames. The IAU also includes an electronic node for generating a control signal proportional to a given angular velocity of rotation of the mirror in a vertical plane, an electronic node for generating a control signal proportional to a given angular velocity of rotation of a mirror in a horizontal plane, and, in addition, an electronic node for scaling a signal taken from the output of the electronic node for the formation of the control signal of the specified angular velocity of rotation of the mirror in a vertical plane connected to Odom encoder control signal the time the direction of rotation of the outer gimbal frame triaxial gyro rotor. Moreover, the signal taken from the output of the electronic node for scaling the signal from the output of the electronic node for generating the control signal of the angular velocity of rotation of the mirror in the vertical plane is proportional to the projection

the vector of the absolute angular velocity of rotation of the IAU mirror on the transverse axis Oz ₃ of the coordinate system Ox _З y _З z _З connected with the mirror. The output of the electronic node generating a control signal proportional to the specified angular velocity

turning the mirror in the horizontal plane, connected to the input of the signal sensor of the moment of control of the direction of rotation of the inner frame of the three-degree cardan suspension of the gyro rotor.

поворота зеркала в вертикальной плоскости и с входом электронного узла формирования управляющего сигнала, пропорционального задаваемой угловой скорости

поворота зеркала в горизонтальной плоскости. Информационная линия связи соединяет аппаратуру формирования массива сигналов координат начального определения и установления заданного OB и начальной выставки (НВ) инерциального дискриминатора сигналов пеленгования заданного OB, внешнюю по отношению к заявляемой системе инерциального автосопровождения, с информационным девятым входом ЦВУ. Информационный третий выход ЦВУ соединен информационной линией связи, по которой поступает массив сигналов, необходимых для формирования сигналов самонаведения подвижного носителя на заданный OB, с аппаратурой формирования сигналов управления подвижным носителем, внешней по отношению к заявляемой системе инерциального автосопровождения заданного OB.The outputs of three one-component accelerometers are connected respectively to the first, second and third inputs of the CVU. The outputs of the two-channel gyroscopic TLS and the output of the electronic scaling unit are connected to the fourth, fifth, and sixth inputs of the CVC, respectively. The output of the sensor signal of the angle of rotation of the outer frame and the sensor output of the signal of the angle of rotation of the inner frame of the biaxial cardan suspension, respectively, by the angle of inclination and azimuth are connected to the seventh and eighth inputs of the CVC, respectively. The first and second output of the CVC is connected respectively to the input of the electronic node for generating a control signal proportional to the specified angular velocity

rotation of the mirror in the vertical plane and with the input of the electronic node for generating a control signal proportional to the specified angular velocity

turning the mirror in a horizontal plane. An information communication line connects the equipment for generating an array of coordinate signals for the initial determination and establishment of a given OB and the initial exhibition (NV) of the inertial discriminator of direction finding signals of a given OB, external to the claimed system of inertial auto tracking, with the informational ninth input of the CVU. The information third output of the CVC is connected by an information communication line through which an array of signals necessary for generating homing signals of a mobile carrier to a given OB is received, with equipment for generating control signals of a mobile carrier external to the claimed inertial auto-tracking system of a given OB.

The introduction of these features into the method and the system for its implementation provides inertial auto-tracking of a given OB according to range and angular misalignment signals, characterized by inertial direction finding parameters of a given OB in range and direction in two mutually perpendicular direction finding planes in the base antenna coordinate system when moving along the trajectory of the mobile carrier and its approximation with a given OB. This ensures increased accuracy of the inertial auto-tracking of a given OB on the autonomous portion of the homing path of the mobile carrier, as well as the accuracy and noise immunity of the location (in particular, radar) auto-tracking of the OB, as well as improving the tactical and technical characteristics of integrated integrated on-board homing systems.

No solutions have been identified from the prior art that have signs that match the distinguishing features of the proposed technical solutions to the inertial auto tracking task of a given OB, building an integrated inertial auto tracking system of a given OB according to information from the inertial discriminator of direction finding signals of a given OB in two mutually perpendicular direction finding planes in the base antenna coordinate system.

Therefore, the proposed technical solutions meet the conditions of an inventive step.

The invention is illustrated by drawings, which represent:

- figure 1 - adopted coordinate system;

визирования заданного OB в базовой антенной системе координат Oxyz;- figure 2 - position of the vector

Sighting a given OB in the Oxyz base antenna coordinate system;

- figure 3 - the relative position of the base antenna coordinate system Oxyz and the local horizontal coordinate system O _ξηζ ;

- figure 4 - the relative position of the base antenna coordinate system Oxyz and the associated coordinate system Ox ₁ y ₁ z ₁ ;

- figure 5 - the relative position associated with the center of mass of the mobile carrier of the coordinate system Ox ₁ y ₁ z ₁ and the local horizontal coordinate system О _ξηζ ;

- figure 6 is a functional diagram of the proposed integrated system of inertial auto tracking of a given OB;

- Fig.7 is a functional structural diagram of the proposed integrated system of inertial auto tracking of a given OB;

- Fig. 8 is a schematic kinematic diagram of an integrated antenna device.

и азимута

взаимного положения носителя и первоначально заданного OB. При этом в аппаратуре подготовки и управления пуском подвижного носителя, внешний по отношению к заявленному изобретению, формируют штатные сигналы в виде пакета последовательности информационных слов, который содержит начальные значения:The proposed method is characterized in that to ensure inertial auto-tracking of a given OB in the direction and, therefore, the formation of signals e ₁ and e ₂ inertial direction finding of a given OB in two mutually perpendicular direction-finding planes in the base antenna coordinate system Oxyz (figure 2), as well as for autotracking inertial OB predetermined range and, therefore, generate a signal proportional to the mismatch between the initial value ΔL slant distance L ₀ to a predetermined current and OB vALUE it slant distance L closer to specify the base OB integrated antenna arrangement together with the movable carrier during prelaunch movable carrier to launch, set signals proportional to the initial value L ₀ slant range, tilt angle

and azimuth

the relative position of the carrier and the originally specified OB. At the same time, in the equipment for preparing and controlling the launch of the mobile carrier, external to the claimed invention, standard signals are formed in the form of a packet of a sequence of information words that contains the initial values:

и азимута

заданного OB относительно основания антенного устройства, жестко установленного внутри корпуса подвижного носителя, в связанной с центром масс подвижного носителя в системе координат Ox₁y₁z₁, (фиг.4);- bearings, i.e. tilt angle

and azimuth

a predetermined OB relative to the base of the antenna device, rigidly mounted inside the housing of the movable carrier, in the coordinate system Ox ₁ y ₁ z ₁ associated with the center of mass of the movable carrier (Fig. 4);

сближения с заданным OB основания антенного устройства вместе с подвижным носителем в предстартовом положении (фиг.1);- oblique range L ₀ to a given OB and oblique speed

rapprochement with a given OB of the base of the antenna device together with the movable carrier in the prelaunch position (figure 1);

- yaw Ψ ₀ , pitch ϑ ₀ and roll γ _{0 of the} movable carrier together with the base of the antenna device (figure 5),

as well as the initial conditions for the exhibition of inertial direction finding of a given OB, i.e. standard signals proportional to the initial values:

,

,

вектора

линейной скорости предстартового движения основания антенного устройства вместе с подвижным носителем на соответствующие оси местной горизонтальной системы координат Oxyz (фиг.1, фиг.3);- projections

,

,

of vector

the linear velocity of the prelaunch motion of the base of the antenna device together with the movable carrier on the corresponding axis of the local horizontal coordinate system Oxyz (Fig. 1, Fig. 3);

- Cartesian coordinates ξ ⁰ (D ₀ ), η ⁰ (Н ₀ ), ζ ^{0 of the} moving carrier in the local horizontal coordinate system O _ξηζ (Fig. 1);

подвижного носителя (фиг.1)- longitudes λ ₀ and geographical latitude

mobile carrier (figure 1)

and, in addition, signals proportional to the required operational range parameters, a control word and a control word.

Next, the generated signals in the form of a packet of sequential information words are checked for distortion in them. After that, the signals characterizing the package of sequential information words are converted into a parallel code to ensure the formation of inertial direction finding signals of a given OB. Then, onboard the mobile carrier, signals proportional to the initial conditions of the inertial direction finding exhibition of the given OB are converted into signals proportional to the initial values:

,

,

вектора

линейной скорости предстартового перемещения-основания антенного устройства вместе с подвижным носителем на соответствующие оси базовой антенной системы координат (фиг.1, фиг.2);- projections

,

,

of vector

the linear velocity of the prelaunch movement-base of the antenna device together with the movable carrier on the corresponding axis of the base antenna coordinate system (figure 1, figure 2);

и

визирования заданного OB соответственно в горизонтальной и в вертикальной плоскости в местной горизонтальной системе координат О_ξηζ (фиг.1, фиг.3);- angles

and

sighting a given OB, respectively, in a horizontal and a vertical plane in a local horizontal coordinate system O _ξηζ (FIG. 1, FIG. 3);

и

пространственной угловой координаты

заданного OB, т.е. параметров инерпиального пеленгования в двух взаимно перпендикулярных плоскостях его пеленгования в базовой антенной системе координат Oxyz (фиг.1, фиг.2), которые характеризуют сигналы рассогласования между направлением оптической оси зеркала антенного устройства и направлением на заданный OB в соответствующих плоскостях пеленгования;- components

and

spatial angular coordinate

given OB, i.e. parameters of inerpial direction finding in two mutually perpendicular planes of its direction finding in the base antenna coordinate system Oxyz (FIG. 1, FIG. 2), which characterize the mismatch signals between the direction of the optical axis of the mirror of the antenna device and the direction to the specified OB in the corresponding direction finding planes;

(где i, j=1,2,3), определяющих начальное взаимное положение базовой антенной системы координат Oxyz и опорной геоцентрической системы координат О_ξηζ связанной одной своей осью Сζ₀ с заданным OB, расположенном на земной поверхности (фиг.1).- guide cosines

(where i, j = 1,2,3), which determine the initial relative position of the base antenna coordinate system Oxyz and the reference geocentric coordinate system О _ξηζ connected by its own axis Сζ ₀ with a given OB located on the earth's surface (Fig. 1).

The formation of these signals is performed according to the following algorithm:

where ξ ⁰ = ξ _max is the initial value of the horizontal Cartesian coordinate of the given OB, i.e. horizontal range D ₀ starting mobile carrier;

where ζ ⁰ is the initial value of the lateral Cartesian coordinate of a given OB in the horizontal plane;

центра масс неподвижного носителя относительно центра Земли (Фиг.1);where r ₀ is the initial value of the modulus of the radius vector

the center of mass of the stationary carrier relative to the center of the Earth (Figure 1);

H ₀ = η ⁰ is the launch height of the movable carrier;

where L ₀ is the initial value of the slant range to a given OB in the pre-launch position of the movable carrier;

,

,

;P ₀ - the initial value of the semiperimeter of the vector triangle formed by vectors

,

,

;

where i, j = 1, 2, 3;

,

,

вектора

кажущегося линейного ускорения движения и проекций

,

,

вектора

абсолютной угловой скорости поворота вектора визирования заданного OB на соответствующие оси системы координат Ox_Зy_Зz_З, связанной с зеркалом антенного устройства, где Ox_З - оптическая ось зеркала. По этим измеренным сигналам, принимая во внимание функциональную зависимость (т.е. переменную электрическую редукцию) между углами

, и

поворота подвижного зеркала и углами поворота линии (вектора) визирования при вращении зеркала одновременно в двух взаимно перпендикулярных плоскостях по углу наклона

и по азимуту

относительно неподвижного облучателя, жестко установленного на основании антенного устройства, определяют сигналы, пропорциональные проекциям n_x, n_y, n_z вектора

кажущегося линейного ускорения движения и проекциям ω_x, ω_y, ω_z вектора

абсолютной угловой скорости поворота вектора визирования заданного OB на соответствующие оси базовой антенной системы координат Oxyz, согласно следующему алгоритму:At the start of the mobile carrier, the update of the initial information signals is stopped, and after the start, during its movement along the path, signals proportional to the measured current projection values are determined

,

,

of vector

apparent linear acceleration of motion and projection

,

,

of vector

the absolute angular velocity of rotation of the vector of sight of a given OB on the corresponding axis of the coordinate system Ox _З y _З z _{З З} connected with the mirror of the antenna device, where Ox _З is the optical axis of the mirror. From these measured signals, taking into account the functional relationship (i.e., variable electric reduction) between the angles

, and

the rotation of the movable mirror and the angles of rotation of the line (vector) of sight when the mirror rotates simultaneously in two mutually perpendicular planes along the angle of inclination

and in azimuth

relative to the stationary feed, rigidly mounted on the basis of the antenna device, determine the signals proportional to the projections n _x , n _y , n _{z of the} vector

apparent linear acceleration of motion and projections ω _x , ω _y , ω _{z of the} vector

the absolute angular velocity of rotation of the vector of sight of a given OB on the corresponding axis of the base antenna coordinate system Oxyz, according to the following algorithm:

,

- углы поворота зеркала антенного устройства по наклону и по азимуту соответственно относительно основания антенного устройства;Where:

,

- the angles of rotation of the mirror of the antenna device in tilt and azimuth, respectively, relative to the base of the antenna device;

e ^H , e ^A are the angles of rotation of the line (vector) of sight of a given OB in the slope and azimuth, respectively, relative to the base of the antenna device in the associated antenna coordinate system (figure 4);

Where

и проекциям ω_x, ω_y, ω_z вектора

соответственно, с учетом сигналов, определенных и установленных во время предстартовой подготовки подвижного носителя, формируют сигналы, пропорциональные текущим значениям параметров вектора визирования заданного OB, характеризующихся:According to the received signals proportional to the signals n _x , n _y , n _{z of the} vector

and projections ω _x , ω _y , ω _{z of the} vector

accordingly, taking into account the signals detected and established during the prelaunch preparation of the mobile carrier, signals are generated that are proportional to the current values of the parameters of the vector of sight of a given OB, characterized by:

линейной скорости сближения с заданным OB основания интегрированного антенного устройства вместе с подвижным носителем;- projections V _x , V _y , V _{z of the} vector

linear approach speed with a given base OB of the integrated antenna device along with a movable carrier;

сближения с заданным OB основания интегрированного антенного устройства вместе с подвижным носителем.- oblique range L and oblique speed

rapprochement with a given base OB of the integrated antenna device together with a movable carrier.

- discrepancies ΔL between a given initial value of the inclined range L ₀ to the specified OB and the current value of the inclined range L of approach with the specified base OB of the integrated antenna device together with the movable carrier;

заданного OB в базовой антенной системе координат Oxyz, определяющими сигналы инерциального пеленгования заданного OB в двух взаимно перпендикулярных плоскостях пеленгования в данной системе координат;- components of e ₁ and e ₂ spatial angular coordinates

a given OB in the base antenna coordinate system Oxyz, determining inertial direction finding signals of a given OB in two mutually perpendicular direction finding planes in a given coordinate system;

- guide cosines β _ij , where i, j = 1, 2, 3, is the mutual current angular position of the base antenna coordinate system Oxyz and the reference geocentric coordinate system Оξ ₀ η ₀ ζ ₀ , connected by its own axis Сζ ₀ with a given OB, located on the earth's surface (figure 1), according to the following algorithm:

where i, j = 1, 2, 3;

L ₀ = L _max - the inclined launch range of the mobile carrier to a given OB;

,

,

, L₀,

,

,

- начальные условия выставки инерциального измерения параметров вектора визирования заданного OB в инерциальном дискриминаторе сигналов пеленгования заданного OB;

,

,

, L ₀ ,

,

,

- the initial conditions of the exhibition of inertial measurement of the parameters of the vector of sight of a given OB in the inertial discriminator of direction finding signals of a given OB;

,

,

,

,

,

,

- подынтегральные функции, которые формируются согласно следующему алгоритму, представляющему собой систему дифференциальных уравнений, записанных в векторной форме:

,

,

,

,

,

,

- integrands, which are formed according to the following algorithm, which is a system of differential equations written in vector form:

where for a fixed given OB R = const and, taking the angular velocity of the daily rotation of the earth Q = const,

moreover

and

Thus, implementing the above algorithms, they form a signal proportional to the mismatch ΔL determined from the system of equations (23) according to the algorithm:

between the obtained current value of the inclined range L of approaching with the given OB and the initial value of the inclined range L _{0 of} the given OB of the mobile carrier, together with the base of the integrated antenna device, which carries out the inertial auto-tracking of the specified OB in range.

и

изменения углов визирования заданного OB, определяющих текущее направление вектора

визирования на заданный OB в горизонтальной и в вертикальной плоскости соответственно, обусловленного перемещением основания интегрированного антенного устройства вместе с подвижным носителем по направлению к заданному OB.In addition, the received inertial direction finding signals e ₁ and e _{2 of the} specified OB in two mutually perpendicular direction finding planes in the base antenna coordinate system Oxyz are converted by integrating them in the closed loop of the inertial auto tracking of the given OB in the direction into control signals proportional to the speed, respectively

and

changes in the viewing angles of a given OB, determining the current direction of the vector

sighting on a given OB in the horizontal and vertical plane, respectively, due to the movement of the base of the integrated antenna device together with the movable carrier in the direction of the specified OB.

и

изменения соответствующих углов визирования заданного OB. Одновременно определяют сигналы, пропорциональные рассогласованию между направлением кинетического момента ротора гироскопа и направлением на заданный OB, сформированным сигналами, пропорциональными скорости

и

изменения углов визирования заданного OB в горизонтальной и в вертикальной плоскости и соответственно возмущающим управляющим моментам. Эти сигналы преобразуют в сигналы управления электродвигателями поворота рамок двухосного карданова подвеса интегрированного устройства. По сигналам управления электродвигатели развивают поворотные моменты, равные и совпадающие по направлению с направлением соответствующих возмущающих моментов, для поворота наружной и внутренней рамок двухосного карданова подвеса интегрированного антенного устройства и шарнирно связанного с ним зеркала в текущее направление на заданный OB, тем самым замыкают контур инерциального автосопровождения заданного OB. При этом одновременно определяют отработанные сигналы, пропорциональные соответственно углу наклона

и азимуту

заданного OB относительно основания интегрированного антенного устройства.To do this, these control signals act on the corresponding moment sensors of a controlled three-stage gyroscope installed in the inner frame of the biaxial cardan suspension of the integrated antenna device, the outer and inner frames of which are pivotally connected to its mirror (Fig. 7, Fig. 8). Under the influence of these control signals, disturbing control moments are generated that cause the moments of the gyroscopic reaction in the supports of the precession axes of the corresponding frames of the triaxial cardan suspension of the gyro rotor. Moreover, according to the precession theory of the gyroscope, a precession deviation of the corresponding framework of the triaxial cardan suspension of the gyro rotor with an angular velocity close to the angular velocity arises

and

changes in the corresponding viewing angles of a given OB. At the same time, signals proportional to the mismatch between the direction of the kinetic moment of the gyro rotor and the direction to a given OB formed by signals proportional to the speed are determined

and

changes in the viewing angles of a given OB in the horizontal and vertical planes and, accordingly, perturbing control moments. These signals are converted into control signals of the electric motors of rotation of the frames of the biaxial cardan suspension of the integrated device. According to the control signals, the electric motors develop rotational moments equal and coinciding in direction with the direction of the corresponding disturbing moments, for rotating the outer and inner frames of the biaxial cardan suspension of the integrated antenna device and the articulated mirror in the current direction to a given OB, thereby closing the inertial auto tracking circuit given OB. At the same time, the worked-out signals are proportional to the angle of inclination, respectively

and azimuth

target OB relative to the base of the integrated antenna device.

ротора гироскопического ДУС 19 совпадает с положительным направлением оси 9 поворота наружной рамки 10 двухосного карданова подвеса 8 ИАУ 5. Все три акселерометра 20, 21, 22, измеряющих соответственно проекции вектора кажущегося линейного ускорения, установлены во внутренней рамке 13 двухосного карданова подвеса 8 ИАУ 5 так, что ось чувствительности одного из них взаимно ортогональна по отношению к взаимно ортогональным осям чувствительности двух других однокомпонентных акселерометров, измеряющих соответствующие проекции кажущегося линейного ускорения. При этом ось чувствительности одного из трех однокомпонентных акселерометров совпадает в заарретированном положении с нулевым положением линии визирования ИАУ 5. Выходы соответствующих датчиков 25 и 27 сигналов угла прецессии внутренней рамки 26 и наружной рамки 28 трехосного карданова подвеса 24 ротора 23 гироскопа 18 соединены с входом соответствующих узлов 35 и 34 гиростабилизации и управления направлением зеркала 6 ИАУ 5 на заданный OB по углу наклона и по азимуту, выходы которых, в свою очередь, соединены соответственно с электродвигателями 14 и 15 поворота наружной рамки 10 и внутренней рамки 13 двухосного карданова подвеса 8 ИАУ 5. При этом выходы датчиков сигналов угла прецессии внутренней и наружной рамок трехосного карданова подвеса ротора двухканального гироскопического ДУС 19 соединены с входом соответствующих усилителей 36 и 37 сигнала обратной связи, выходы которых соединены соответственно с датчиками сигналов момента внутренней и наружной рамок трехосного карданова подвеса ротора двухканального гироскопического ДУС 19. Зеркало 6 выполнено с возможностью поворота в двух взаимно перпендикулярных плоскостях с помощью двухстепенного шарнира 38 относительно центра излучения облучателя 7, жестко закрепленного на основании 11 ИАУ 5. При этом зеркало 6 шарнирно соединено тягами 39 и 40 механического координатора ИАУ 5 соответственно с наружной рамкой 10 и с внутренней рамкой 13 двухосного карданова подвеса 8 ИАУ 5 так, что расстояние между каждым из шарниров на задней поверхности зеркала 6 и его центром поворота равно расстоянию между каждым из шарниров, установленных соответственно на наружной рамке 10 и внутренней рамке 13 двухосного карданова подвеса 8 ИАУ 5, и центром поворота этих рамок. ИАУ 5 включает в свой состав также электронный узел 41 формирования управляющего сигнала, пропорционального задаваемой угловой скорости поворота зеркала 6 в вертикальной плоскости, электронный узел 42 формирования управляющего сигнала, пропорционального задаваемой угловой скорости поворота зеркала 6 в горизонтальной плоскости, и, кроме того, электронный узел 43 масштабирования сигнала, снимаемого с выхода электронного узла 41 формирования управляющего сигнала задаваемой угловой скорости поворота зеркала 6 в вертикальной плоскости, соединенного с входом датчика 30 сигнала момента управления направлением поворота наружной рамки 28 трехосного карданова подвеса 24 ротора 23 гироскопа 18. Причем сигнал, снимаемый с выхода электронного узла 43 масштабирования сигнала с выхода электронного узла 41 формирования управляющего сигнала угловой скорости поворота зеркала 6 в вертикальной плоскости, пропорционален проекции

вектора абсолютной угловой скорости поворота зеркала 6 ИАУ 5 на поперечную ось Oz_З системы координат Ох_Зy_Зz_З, связанной с зеркалом 6. Выход электронного узла 42 формирования управляющего сигнала, пропорционального задаваемой угловой скорости

поворота зеркала 6 в горизонтальной плоскости, соединен с входом датчика 29 сигнала момента управления направлением поворота внутренней рамки 26 трехосного карданова подвеса 24 ротора 23 гироскопа 18.The system implementing the method consists of a narrow-band inertial auto-tracking circuit 1 and a wide-band gyrostabilization circuit 2 and controlling the direction of the vector of sight of a given OB (Fig. 6), contains an inertial discriminator 3 (Fig. 6) of direction finding signals of a given. OB in two mutually perpendicular direction-finding planes in the base antenna coordinate system Oxyz (Fig. 1, Fig. 2), which includes its own. the composition of a digital computing device (CVD) 4 and an integrated antenna device (IAU) 5 (Fig.6, Fig.7). IAU 5 contains a mirror 6 with an irradiator 7 and a waveguide-switching device (VKU), a biaxial gimbal suspension 8, the axis of rotation 9 of the outer frame 10 of which is installed on the base 11 of the IAU 5, and the axis 12 of the rotation of the inner frame 13 is installed in the outer frame 10 perpendicular to its rotation axis 9, the rotation motor 14 of the outer frame 10 of the biaxial cardan suspension 8 and the rotation motor 15 of the inner frame 13 of the biaxial cardan suspension 8. The IAU 5 contains a sensor 16 of the rotation angle signal of the outer frame 10 of the biaxial cardan suspension 8, the sensor to 17 the signal of the angle of rotation of the inner frame 13 of the biaxial cardan suspension 8, respectively, in the angle of inclination and in azimuth, as well as a controlled three-stage gyroscope 18, a two-channel gyroscopic sensor of angular velocity (TLS), three one-component accelerometers 20, 21, 22 (Fig. 7, Fig. 8). Moreover, the controlled three-stage gyroscope 18 is installed in the inner frame 13 of the biaxial cardan suspension 8 of the IAU 5 so that the direction of the kinetic moment vector H of its rotor 23 in the locked position of the gyroscope 18 coincides with the zero direction of the IAU line of sight 5. The gyroscope 18 contains a three-axis cardan suspension 24 of the rotor 23 the sensor 25 of the precession angle signal of the inner frame 26 of the triaxial cardan suspension 24 of the rotor 23 of the gyroscope 18 and the sensor 27 of the precession angle signal of the outer frame 28 of the triaxial cardan suspension 24 of the rotor 23 of the gyroscope 18, the sensor 29 of the signal of the moment of control of the direction of rotation of the inner frame 26 of the triaxial cardan suspension 24 of the gyroscope rotor 23 23, the sensor 30 of the signal of the moment of control of the direction of rotation of the outer frame 28 of the triaxial cardan suspension 24 of the rotor 23 of gyroscope 18. The axis 31 of proper rotation of the rotor 23 of the gyroscope 18 the inner frame 26 of the triaxial cardan suspension 24 of the rotor 23 of the gyroscope 18, the rotation axis 32 of which is installed in the outer frame 28 of the triaxial cardan suspension of the 24 rotor 23 of the gyroscope 18, the rotation axis of which 33 The belt is installed in the gyroscope housing 18. The gyroscope housing 18 is rigidly fixed in the inner frame 13 of the triaxial cardan suspension 8 of the IAU 5. On the corresponding rotation axes 32 and 33 of the frames 26 and 28 of the triaxial cardan suspension 24 of the rotor 23 of the gyroscope 18, sensors 25 and 27 of the signals are installed the precession angle of the inner frame 26 and the outer frame 28 of the triaxial cardan suspension 24 of the rotor 23 of the gyroscope 18. The IAU 5 also includes an electronic unit 34 for gyrostabilization and control the direction of the mirror 6 of the IAU 5 on the oblique angle, the electronic unit 35 gyrostabilization and control the direction of the mirror 6 IAU 5 in azimuth, as well as amplifiers 36 and 37 of feedback signals in the corresponding channels of the two-channel gyroscopic sensor 19 measuring the components of the absolute angular velocity of rotation of the mirror 6 IAU 5. Two-channel gyroscopic sensor of angular velocity (DLS) 19 (Fig. 7, Fig. 8) is installed in the inner frame 13 of the biaxial gimbal suspension 8 of the IAU 5 so that in the locked position, one of its sensitivity axes coincides with the direction of the line of sight of the IAU 5, and its other axis of sensitivity is, for example, oriented upward along the positive direction of the axis of rotation 12 of the inner frame 13 of the biaxial cardan suspension 8 of the IAU 5. In this case, the direction of the kinetic moment vector

of the rotor of the gyroscopic DEA 19 coincides with the positive direction of the axis of rotation of the outer frame 10 of the biaxial cardan suspension 8 IAU 5. All three accelerometers 20, 21, 22, respectively measuring projections of the apparent linear acceleration vector, are installed in the inner frame 13 of the biaxial cardan suspension 8 IAU 5 so that the sensitivity axis of one of them is mutually orthogonal with respect to the mutually orthogonal sensitivity axes of two other one-component accelerometers measuring the corresponding projections of the apparent linear about acceleration. In this case, the sensitivity axis of one of the three one-component accelerometers coincides in the locked position with the zero position of the IAU line of sight 5. The outputs of the corresponding sensors 25 and 27 of the precession angle signals of the inner frame 26 and the outer frame 28 of the triaxial cardan suspension 24 of the rotor 23 of the gyroscope 18 are connected to the input of the corresponding nodes 35 and 34 gyrostabilization and control the direction of the mirror 6 IAU 5 to a given OB in the angle of inclination and in azimuth, the outputs of which, in turn, are connected respectively with electric motors 1 4 and 15 of the rotation of the outer frame 10 and the inner frame 13 of the biaxial cardan suspension 8 IAU 5. The outputs of the sensors of the precession angle signals of the inner and outer frames of the triaxial cardan suspension of the rotor of the two-channel gyroscopic ДУС 19 are connected to the input of the corresponding feedback signal amplifiers 36 and 37, the outputs which are connected respectively to the moment signal sensors of the inner and outer frames of the triaxial cardan suspension of the rotor of the two-channel gyroscopic CRS 19. The mirror 6 is rotatable in two mutually perpendicular planes using a two-stage hinge 38 relative to the center of radiation of the irradiator 7, rigidly fixed on the base 11 of the IAU 5. The mirror 6 is pivotally connected by rods 39 and 40 of the mechanical coordinator of the IAU 5, respectively, with the outer frame 10 and with the inner frame 13 of the biaxial gimbal 8 IAU 5 so that the distance between each of the hinges on the rear surface of the mirror 6 and its center of rotation is equal to the distance between each of the hinges mounted respectively on the outer frame 10 and the inner frame 13 ke biaxial gimbal 8 AIO 5, and the center of rotation of the framework. IAU 5 also includes an electronic node 41 for generating a control signal proportional to a given angular velocity of rotation of the mirror 6 in a vertical plane, an electronic node 42 for generating a control signal proportional to a given angular velocity of rotation of a mirror 6 in a horizontal plane, and, in addition, an electronic node 43 scaling the signal taken from the output of the electronic node 41 of the formation of the control signal of the specified angular velocity of rotation of the mirror 6 in the vertical plane, the signal from the input of the sensor 30 of the moment of control of the direction of rotation of the outer frame 28 of the triaxial cardan suspension 24 of the rotor 23 of the gyroscope 18. Moreover, the signal taken from the output of the electronic unit 43 for scaling the signal from the output of the electronic unit 41 for generating the control signal for the angular velocity of rotation of the mirror 6 in the vertical plane, proportional to projection

the vector of the absolute angular velocity of rotation of the mirror 6 ИАУ 5 to the transverse axis Oz _З of the coordinate system Ox _З y _З z _{З З} connected with the mirror 6. The output of the electronic node 42 for generating a control signal proportional to the specified angular velocity

rotation of the mirror 6 in the horizontal plane, connected to the input of the sensor 29 of the signal moment of control of the direction of rotation of the inner frame 26 of the triaxial cardan suspension 24 of the rotor 23 of the gyroscope 18.

поворота зеркала 6 в вертикальной плоскости и с входом электронного узла 42 формирования управляющего сигнала, пропорционального задаваемой угловой скорости

поворота зеркала 6 в горизонтальной плоскости. Информационная линия связи 44 соединяет аппаратуру формирования массива сигналов координат начального определения и установления заданного OB и начальной выставки (НВ) инерциального дискриминатора сигналов пеленгования заданного OB, внешнюю по отношению к заявляемой системе инерциального автосопровождения, с информационным девятым входом ЦВУ 4. Информационный третий выход ЦВУ 4 соединен информационной линией связи 45, по которой поступает массив сигналов, необходимых для формирования сигналов самонаведения подвижного носителя на заданный OB, с аппаратурой формирования сигналов управления подвижным носителем, внешней по отношению к заявляемой системе инерциального автосопровождения заданного OB.The outputs of the three one-component accelerometers 20, 21, 22 are connected respectively to the first, second, and third inputs of the CVU 4. The outputs of the two-channel gyroscopic DUS 19 and the output of the electronic zoom unit 43 are connected respectively to the fourth, fifth, and sixth inputs of the CVU 4. The output of the angle sensor 16 the outer frame 10 and the sensor output 17 of the angle of rotation signal of the inner frame 13 of the biaxial cardan suspension 8, respectively, by the angle of inclination and azimuth are connected to the seventh and eighth inputs of the CVU 4, respectively. The first and second output of the CVU 4 is connected respectively to the input of the electronic node 41 of the formation of the control signal proportional to the specified angular velocity

rotation of the mirror 6 in the vertical plane and with the input of the electronic node 42 of the formation of the control signal proportional to the specified angular velocity

turning the mirror 6 in the horizontal plane. The information communication line 44 connects the equipment for generating an array of coordinate signals for the initial determination and establishment of a given OB and the initial exhibition (NV) of the inertial discriminator of direction finding signals of a given OB, external to the claimed system of inertial auto tracking, with the informational ninth input of the CVU 4. Information third output of the CVU 4 connected by an information communication line 45, which receives an array of signals necessary for generating homing signals of a mobile carrier a new OB, with equipment for generating control signals of a mobile carrier external to the claimed system of inertial auto tracking of a given OB.

The work of the proposed system that implements the claimed method is as follows.

During prelaunch preparation and launch launch control of the mobile carrier in the initial determination and coordinates setting of the set OB and the initial exhibition of inertial direction finding of the specified OB, the standard information channel is fed from the external training and launch control equipment to the serial data receiver via a standard digital channel from the external preparation and launch control equipment an array consisting, for example, of 20 32-bit words (Fig.7):

- control word

- L ₀ - the initial value of the inclined approach distance with a given OB of the base 11 of the antenna device 5 (Fig.7) together with a movable carrier,

- начальное значение скорости изменения наклонной дальности сближения с заданным OB подвижного носителя вместе с основанием 11 антенного основания 5 (фиг.7),-

- the initial value of the rate of change of the inclined approach distance with a given OB of the mobile carrier together with the base 11 of the antenna base 5 (Fig.7),

,

,

- начальные значения проекций вектора

линейной скорости подвижного носителя на оси местной горизонтальной системы координат О_ξηζ (фиг.1),-

,

,

are the initial values of the projections of the vector

the linear velocity of the moving medium on the axis of the local horizontal coordinate system O _ξηζ (Fig. 1),

- ξ ⁰ , η ⁰ , ζ ⁰ are the initial values of the Cartesian coordinates of the given OB in the local horizontal coordinate system О _ξηζ ,

- начальные значения долготы и географической широты подвижного носителя в момент старта (фиг.1),- λ ₀ ,

- the initial values of the longitude and geographical latitude of the mobile carrier at the time of launch (figure 1),

- Ψ ₀ , υ ₀ , γ ₀ - the initial values of yaw, pitch, roll at the time of the start of the mobile carrier,

,

- начальные значения угла места (наклона) и азимута заданного OB в связанной системе координат Ox₁y₁z₁, (фиг.4),-

,

- the initial values of the elevation angle (tilt) and the azimuth of the given OB in the associated coordinate system Ox ₁ y ₁ z ₁ , (figure 4),

- L _PP - a signal proportional to the slant range to a given OB, characterizing the transition to the mode of movement of the moving medium on the final section of the trajectory,

- a command word containing mode commands that determine the algorithm of the system.

The regular information array as the relative position of the mobile medium and the specified OB changes in the pre-start state is continuously updated and overwritten, checked for distortion of the transmitted information signals. At the same time, in CVI 4 of the inertial discriminator 3 of the direction-finding signals of the given OB (Fig. 6), the algorithms (1) ÷ (14) of generating the signals of the initial exhibition of the inertial measurement of the parameters of the vector of sight of the specified OB are implemented, namely:

,

начальные значения горизонтального и вертикального углов визирования заданного OB в местной горизонтальной системе координат О_ξηζ (фиг.3),-

,

the initial values of the horizontal and vertical angles of sight of a given OB in the local horizontal coordinate system O _ξηζ (figure 3),

,

,

- начальные значения проекций вектора

линейной скорости основания 11 антенного устройства 5 (фиг.7) вместе с подвижным носителем на оси базовой антенной системы координат Oxyz (фиг.2),-

,

,

are the initial values of the projections of the vector

the linear velocity of the base 11 of the antenna device 5 (Fig.7) together with a movable carrier on the axis of the base antenna coordinate system Oxyz (Fig.2),

,

- значения составляющих пространственной угловой координаты е заданного OB в базовой антенной системе координат Oxyz (фиг.2), характеризуемые начальными значениями соответствующих сигналов пеленгования заданного OB в двух взаимно перпендикулярных плоскостях в системе координат Oxyz,-

,

- the values of the components of the spatial angular coordinate e of the given OB in the base antenna coordinate system Oxyz (FIG. 2), characterized by the initial values of the corresponding direction-finding signals of the given OB in two mutually perpendicular planes in the coordinate system Oxyz,

,

- начальные значения долготы и географической широты заданного OB в момент старта подвижного носителя (фиг.1),-

,

- the initial values of longitude and geographical latitude of a given OB at the time of start of the mobile carrier (figure 1),

, где i, j=1, 2, 3, - матрица начальных значений направляющих косинусов, определяющих взаимное положение базовой антенной системы координат Oxyz и опорной геоцентрической системы координат Оξ₀η₀ζ₀, одна координатная ось которой связана с заданным OB (фиг.1).-

, where i, j = 1, 2, 3, is the matrix of initial values of the direction cosines that determine the relative position of the base antenna coordinate system Oxyz and the reference geocentric coordinate system Оξ ₀ η ₀ ζ ₀ , one coordinate axis of which is connected with a given OB (Fig. one).

,

,

вектора

, с выхода соответствующих акселерометров 20, 21, 22 подаются соответственно на входы 1, 2, 3 ЦВУ 4, где преобразуются согласно алгоритмам (16), (17), (18) в сигналы, пропорциональные проекциям n_x, n_y, n_z вектора

на оси базовой антенной системы координат O_xyz. Сигналы, пропорциональные измеренным проекциям

,

,

вектора

, с соответствующих выходов ДУС 19 и с входа датчика 30 момента поступают соответственно на входы 4, 5, 6 ЦВУ 4, где преобразуются согласно алгоритмам (16), (17), (19) в сигналы, пропорциональные проекциям ω_x, ω_y, ω_z вектора

на оси базовой антенной системы координат Oxyz (фиг.7).At the time of the start of the mobile carrier, the receipt of the inertial discriminator 3 of the regular information array of the pre-launch determination and establishment of the initial coordinates of the given OB and the initial exhibition of the inertial direction finding of the given OB is terminated via the communication line 44 in the CVU 4 (Fig. 6). At the same time, a controlled three-stage gyroscope 18, a gyroscopic CRS 19, accelerometers 20, 21, 22 are pulled apart and the process of inertial direction finding of a given OB is turned on, the functioning algorithm of which (23) is implemented in CVL 4 of inertial discriminator 3. At the same time, signals proportional to the measured projections

,

,

of vector

, from the output of the corresponding accelerometers 20, 21, 22, respectively, are fed to the inputs 1, 2, 3 of the DAC 4, where they are converted according to the algorithms (16), (17), (18) into signals proportional to the projections n _x , n _y , n _z of vector

on the axis of the base antenna coordinate system O _xyz . Signals proportional to measured projections

,

,

of vector

, from the corresponding outputs of the CRS 19 and from the input of the sensor 30, the moments are respectively supplied to the inputs 4, 5, 6 of the DAC 4, where, according to the algorithms (16), (17), (19), they are converted into signals proportional to the projections ω _x , ω _y , ω _{z of the} vector

on the axis of the base antenna coordinate system Oxyz (Fig.7).

According to the received signals, which are proportional to the projections n _x , n _y , n _z and ω _x , ω _y , ω _z in CVL 4 of discriminator 3 (Fig. 6) for certain and set initial coordinates of a given OB and initial conditions for the inertial measurement of the vector parameters sights of a given OB form (select) according to algorithm (23) inertial direction finding signals proportional to the parameters:

According to a signal proportional to the mismatch ΔL, in the TsVU 4 of discriminator 3, an inertial (autonomous) auto-tracking of a given OB is carried out in range.

и

, согласно алгоритмам: (32)From outputs 1 and 2 of the DAC 4, signals proportional to e ₁ and e ₂ , after their conversion to DAC 4, respectively, to signals proportional to

and

, according to the algorithms: (32)

поворота зеркала 6 интегрированного антенного устройства 5 в вертикальной плоскости, пропорционален также проекции

вектора

абсолютной угловой скорости поворота зеркала 6 антенного устройства 5 на координатную ось Oz_З системы координат Ox_Зy_Зz_З, связанной с зеркалом 6. С выхода электронного узла 41 сигнал, пропорциональный задаваемой вертикальной угловой скорости

поворота зеркала 6, поступает на вход датчика 30 сигнала момента управления направлением поворота наружной рамки 28 трехосного карданова подвеса 24 ротора 13 гироскопа 18 (фиг.7, фиг.8). С выхода электронного узла 42 сигнал, пропорциональный задаваемой горизонтальной угловой скорости

поворота зеркала 6, поступает на вход датчика 29 сигнала момента управления направлением поворота внутренней рамки 26 трехосного карданова подвеса 24 ротора 23 гироскопа 18 (фиг.7, фиг.8). Под действием управляющих сигналов, пропорциональных соответственно угловой скорости

и

, возникают возмущающие управляющие моменты, которые согласно прецессионной теории гироскопа вызывают моменты гироскопической реакции в опорах осей 32 и 33 прецессии соответствующих рамок 28 и 26 трехосного карданова подвеса 24 ротора 23 гироскопа 18. Вследствие этого возникает прецессионное отклонение соответствующих рамок 28 и 26 трехосного карданова подвеса 24 ротора 23 гироскопа 18 с угловой скоростью, близкой по величине к угловой скорости

и

изменения соответствующих углов поворота зеркала 6. Одновременно с выхода соответствующих датчиков 25 и 27 сигнала угла прецессии сигналы, пропорциональные рассогласованию между направлением вектора

кинетического момента ротора 23 гироскопа 18 и заданным направлением зеркала 6, сформированным управляющими сигналами, пропорциональными скорости

и

и соответственно возмущаемыми управляющими моментами. Эти сигналы поступают соответственно на входы электронных узлов 34 и 35, с выхода которых после преобразования в управляющие электрические напряжения и усиления по мощности подаются на управляющую обмотку соответствующих электродвигателей 14 и 15 поворота рамок 10 и 13 двухосного карданова подвеса 8 зеркала 6 интегрированного антенного устройства 5.arrive respectively at the input of the electronic node 41 and the input of the electronic node 42. In this case, the signal taken from the output of the electronic node 43 for scaling the signal from the output of the electronic node 41 for generating a control signal proportional to the angular velocity

rotation of the mirror 6 of the integrated antenna device 5 in a vertical plane, is also proportional to the projection

of vector

the absolute angular velocity of rotation of the mirror 6 of the antenna device 5 to the coordinate axis Oz _З of the coordinate system Ox _З y _З z _{З З} connected with the mirror 6. From the output of the electronic unit 41, a signal proportional to the specified vertical angular velocity

rotation of the mirror 6, is fed to the input of the sensor 30 of the signal of the moment of control of the direction of rotation of the outer frame 28 of the triaxial cardan suspension 24 of the rotor 13 of the gyroscope 18 (Fig. 7, Fig. 8). From the output of the electronic node 42, a signal proportional to the specified horizontal angular velocity

rotation of the mirror 6, is fed to the input of the sensor 29 of the signal of the moment of control of the direction of rotation of the inner frame 26 of the triaxial cardan suspension 24 of the rotor 23 of the gyroscope 18 (Fig. 7, Fig. 8). Under the action of control signals proportional to the angular velocity, respectively

and

, disturbing control moments arise, which, according to the precession theory of the gyroscope, cause the moments of the gyroscopic reaction in the bearings of the precession axes 32 and 33 of the corresponding frames 28 and 26 of the triaxial cardan suspension 24 of the rotor 23 of the gyroscope 18. As a result, the precession deviation of the corresponding frames 28 and 26 of the triaxial cardan suspension 24 the rotor 23 of the gyroscope 18 with an angular velocity close in magnitude to the angular velocity

and

changes in the corresponding rotation angles of the mirror 6. Simultaneously with the output of the corresponding sensors 25 and 27 of the precession angle signal, signals proportional to the mismatch between the direction of the vector

the kinetic moment of the rotor 23 of the gyroscope 18 and the given direction of the mirror 6, formed by control signals proportional to the speed

and

and accordingly indignant control moments. These signals are respectively supplied to the inputs of electronic components 34 and 35, from the output of which, after conversion to control electric voltages and power amplitudes, are supplied to the control winding of the corresponding electric motors 14 and 15 of rotation of the frames 10 and 13 of the biaxial cardan suspension 8 of the mirror 6 of the integrated antenna device 5.

According to the control signals, the electric motors develop rotational moments equal and coinciding in direction with the direction of the corresponding disturbing control moments, for turning the outer 10 and inner 13 frames of the biaxial cardan suspension 8 of the integrated antenna device 5 and the mirror 6 articulated with it.

и по азимуту

, которые в ЦВУ 4 преобразуются согласно соответствующим алгоритмам в сигналы, пропорциональные.In this case, simultaneously with the output of the sensors 16 and 17 of the rotation angle signal of the outer frame 10 and the inner frame 13 of the biaxial cardan suspension 8, respectively, by the angle of inclination and azimuth, respectively, the signals of the mirror direction 6 are worked out at the input of the CVU 4 on the OB axis 4 along the angle of inclination

and in azimuth

, which are converted in CVU 4 according to the corresponding algorithms into signals proportional.

characterizing rotation in the angle of inclination and in the azimuth of the vector L of sight in the current direction to a given OB. Thus, the loop of inertial (autonomous) auto tracking of a given OB is closed. At the same time, from the 3rd information output of the TsVU 4 via the information communication line 45, an array of signals necessary for generating homing signals of the mobile carrier to a given OB is supplied to the equipment external to the claimed system, namely:

и

, формируемых в ЦВУ 4 согласно алгоритму (22),-

and

formed in CVU 4 according to algorithm (22),

, L, формируемых в ЦВУ 4 согласно алгоритмам (23) и (24).-

, L, formed in TsVU 4 according to the algorithms (23) and (24).

TsVU 4 inertial discriminator 3 direction finding signals of a given OB includes analog-to-digital converters of input signals, a processor for processing signals of accelerometers and gyroscopic devices, random-access memory, digital-to-analog converters of output signals, interconnected inputs and outputs through information exchange channels , with an external source of information and an integrated antenna device 5. TsVU 4 provides storage of a regular information array of signals entered о from an external source of information via the information communication line 44. In addition, TsVU 4 implements the mathematical and software of the inertial discriminator 3, which allows obtaining information about the signals e ₁ and e ₂ , inertial direction finding of a given OB in two mutually perpendicular direction finding planes in the base antenna system Oxyz coordinates, about the distance mismatch signal ΔL between the initial value of the inclined range L ₀ to the specified OB and the current value of the inclined range L of the approach of the mobile carrier from the rear an OB for implementing an integrated system of inertial auto tracking of a given OB, implementing the claimed method. Thus, the proposed technical solutions (method and system of inertial auto tracking of a given OB) provide a positive effect, which is as follows.

The proposed technical solutions have absolute noise immunity since they do not emit and do not receive any radio signals, or signals in other radiation ranges. The use of the claimed technical solutions provides increased accuracy of the inertial auto-tracking of a given OB on an autonomous portion of the trajectory of the mobile carrier, increased accuracy and noise immunity when working together with the proposed technical solutions, for example, with OB auto-tracking radar systems.

The proposed technical solutions also provide an increase in the tactical and technical characteristics of integrated integrated homing systems for mobile carriers.

The results of the above studies confirm the feasibility of the proposed method and system of inertial auto tracking of a given OB and providing them with the achievement of enhanced tactical and technical characteristics of an integrated integrated BSSN mobile carrier.

Claims (2)

1. The method of inertial auto tracking of a given object of sight, characterized in that during pre-launch preparation of the moving medium, signals are determined and set proportional to the initial values of the inclined range, the angle of inclination and the azimuth of the relative position of the moving medium and the initially set object of sight (OB), standard signals in the form of a packet of sequential information words, which contains the initial values of the angle of inclination and azimuth of a given OB relative the basis of the antenna device, rigidly installed inside the housing of the mobile carrier, in the coordinate system associated with the center of mass of the mobile carrier, the inclined range to the specified OB and the inclined approach speed with the specified OB of the base of the antenna device together with the mobile carrier in the pre-launch position, yaw, pitch and roll of the mobile carrier along with the base of the antenna device, as well as the initial conditions for the exhibition of inertial direction finding of a given OM, i.e. standard signals proportional to the initial values of the projections of the linear velocity vector of the prelaunch movement of the base of the antenna device together with the mobile carrier on the corresponding axis of the local horizontal coordinate system, the Cartesian coordinates of the mobile carrier in the local horizontal coordinate system, longitude and geographical latitude α ′ _{0 of the} mobile carrier, as well as signals proportional to the operating parameters in range, control word, command word, then check the generated signals on the station distortion in them, after which the signals characterizing a packet of consecutive information words are converted into parallel form to ensure the formation of inertial direction finding signals of a given OB, then signals proportional to the initial conditions of the inertial direction finding exhibition of the given OB are converted into signals proportional to the initial values of the projections of the linear velocity vector prelaunch movement of the base of the antenna device together with a movable carrier on the corresponding axis of the base antenna coordinate system, the angles of sight of the specified OM, respectively, in the horizontal and vertical planes in the local horizontal coordinate system, which are the spatial angular coordinates of the given OM, characterized by the parameters of its inertial direction finding in two mutually perpendicular direction finding planes in the base antenna coordinate system, the direction cosines that determine the initial mutual position of the base antenna coordinate system and the reference geocentric coordinate system associated its discharge axis to specify the OB disposed on the earth's surface; at the start time of the start of the mobile carrier, the update of the signals of the initial determination and establishment of the coordinates of the given OB and the signals of the initial inertial direction finding signal of the specified OB is stopped and, at the beginning of its movement along the trajectory, along with the base of the integrated antenna device, signals proportional to the projections of the vector of the apparent linear acceleration of motion are simultaneously measured and projections of the absolute angular velocity vector of the mirror rotation of the integrated antenna device to the corresponding The axes of the coordinate system associated with the mirror of the integrated antenna device, based on these measured signals, taking into account the variable electric reduction between the rotation angles of the mirror of the antenna device and the vector of sight of the specified OB, determine the signals proportional to the projections of the vector, the apparent linear acceleration of motion and the projections of the absolute angular velocity of rotation the vector of sight of the specified OB on the corresponding axis of the base antenna of the coordinate system is formed from the received signals taking into account of the signals identified and established during the prelaunch preparation of the mobile carrier, signals proportional to the current values of the parameters of the vector of sight of a given OB, characterized by projections of the vector of linear velocity of approach with a given OB of the base of the integrated antenna device along with the mobile carrier on the corresponding axis of the base antenna of the coordinate system, inclined range and inclined approach speed with a given OB of the base of the integrated antenna device together with the movable carrier, the mismatch between the initial value of the inclined range to the specified OB and the current value of the inclined distance of approach to the specified OB of the base of the integrated antenna device together with the mobile carrier inertial direction finding signals of the specified OB in two mutually perpendicular direction-finding planes in the base antenna coordinate system, the cosines of the relative current angular the position of the base antenna coordinate system and the reference geocentric coordinate system associated with one its axis with a given OB located on the earth’s surface, according to the received signal proportional to the mismatch between the given initial value of the inclined range and the current value of the inclined approach distance with the given OB of the base of the integrated antenna device together with the mobile carrier, they perform inertial auto-tracking of the given OB in range, and received signals proportional to the parameters of inertial direction finding of a given OB in two mutually perpendicular bearing planes The positions in the base antenna coordinate system are transformed by integrating them in a closed loop of inertial auto-tracking of a given OB in the direction into control signals proportional to the rate of change of the viewing angle of a given OB, which determine the current direction of the vector of sight to a given OB in the horizontal and vertical plane, due to the movement the base of the integrated antenna device together with a movable carrier in the direction of a given OB, which affect t to the corresponding moment sensors of the control three-stage gyroscope installed in the internal frame of the biaxial cardan suspension of the integrated antenna device, the external and internal frames of which are pivotally connected to its mirror, under the influence of these control signals create disturbing control moments that cause the gyroscopic reaction moments in the supports of the precession axes of the corresponding the framework of the triaxial cardan suspension of the gyroscope rotor, and a precession deviation of the corresponding framework occurs a triaxial cardan suspension of the gyroscope rotor with an angular velocity close to the angular velocity of the change in the corresponding viewing angles of the specified OB, simultaneously determine signals proportional to the mismatch between the direction of the kinetic moment vector of the gyro rotor and the direction to the specified OB, formed by signals proportional to the rate of change of the viewing angle of the specified OM in the horizontal and vertical planes and, accordingly, perturbing control moments; these signals are converted into control signals for turning electric motors of the framework of a biaxial cardan suspension of an integrated antenna device, and according to control signals, electric motors develop turning moments that are equal and coinciding in direction with the direction of the corresponding disturbing control moments for turning the outer and inner frames of a biaxial cardan suspension of an integrated antenna device and pivotally the mirrors associated with it in the current direction to a given OB, thereby closing the loop and cially autotracking predetermined OM and determine signals proportional to the exhaust values of inclination and azimuth angle relative to the base OB predetermined antenna device integrated in a coordinate system associated with the mass center of the movable carrier. 2. The system implementing the method according to claim 1, characterized in that it consists of a narrow-band inertial auto-tracking circuit of a given OB and a wide-band gyrostabilization circuit and controlling the direction of the OB vector of sight, contains an inertial discriminator of direction-finding signals of a given OB in two mutually perpendicular direction-finding planes in the base antenna coordinate system, which includes a digital computing device (CVC), as well as an integrated antenna device containing a mirror with an irradiator and a waveguide-switching device, a biaxial cardan suspension, the axis of rotation of the outer frame of which is installed on the basis of the integrated antenna device, and the axis of rotation of the inner frame is installed in the outer frame perpendicular to its axis of rotation, the rotation motor of the outer frame of the biaxial cardan suspension and the inner rotation motor frames of a biaxial cardan suspension, sensor of a signal of an angle of rotation of an external frame of a biaxial cardan suspension, a sensor of a signal of an angle of rotation of the frames of the biaxial cardan suspension respectively in the angle of inclination and in azimuth, in addition, a controlled three-stage gyroscope, a two-channel gyroscopic angular velocity sensor, three one-component accelerometers, and a controlled three-stage gyroscope installed in the inner frame of the two-axis cardan suspension of the integrated antenna device so that the direction of the kinetic vector the moment of its rotor in the locked position of the gyroscope coincides with the zero direction of the integrated line of sight of the device, the gyroscope contains a triaxial cardan suspension of the rotor, a signal of the precession angle signal of the inner frame of the triaxial cardan suspension of the rotor and a signal signal of the precession angle of the external frame of the triaxial cardan suspension of the gyro rotor, a signal of the torque signal controlling the direction of rotation of the inner frame of the triaxial cardan suspension of the gyroscope rotor, moment signal sensor control the direction of rotation of the outer frame of the triaxial cardan suspension of the gyro rotor, while the axis of proper rotation of the gyro rotor the telescope is installed in the inner frame of the triaxial cardan suspension of the gyroscope rotor, the rotation axis of which is installed in the outer frame of the triaxial cardan suspension of the gyroscope rotor, the rotation axis of which is installed in the gyroscope housing, which is rigidly fixed in the inner frame of the biaxial cardan suspension of the integrated antenna device, which also includes the composition of the electronic node gyrostabilization and control the direction of the mirror on the OB in the angle of inclination, the electronic node gyrostabilization and control is directed we take mirrors on the OB in azimuth, as well as feedback signal amplifiers in the corresponding channels of the two-channel angular velocity sensor, which is installed in the internal frame of the biaxial cardan suspension of the integrated antenna device so that in the locked position, one of its sensitivity axes coincides with the direction of the line of sight of the integrated device and its other axis of sensitivity is oriented, for example, upward along the positive direction of the axis of rotation of the inner frame of the biaxial cardan wa suspension of the integrated antenna device, while the direction of the kinetic moment of the rotor of the gyroscopic angular velocity sensor coincides with the positive direction of the axis of rotation of the outer frame of the biaxial cardan suspension of the integrated antenna device; all three accelerometers are installed in the inner frame of the biaxial cardan mount of the integrated antenna device so that the sensitivity axis of one of them is mutually orthogonal with respect to the mutually orthogonal sensitivity axes of the other two one-component accelerometers, while the sensitivity axis of one of the three one-component accelerometers coincides with the zeroed position the position of the line of sight of the integrated antenna device;
the outputs of the corresponding sensors of the precession angle signal of the inner frame and the outer frame of the triaxial cardan suspension of the gyro rotor are respectively connected to the input of the gyrostabilization and mirror direction control units of the integrated antenna device, the outputs of which are connected respectively to the rotation motors of the outer frame and the internal frame of the biaxial cardan suspension of the integrated antenna device, this outputs the sensors of the precession angle signal of the inner and outer frames of the triaxial cardan wa bi rotor gyro angular velocity sensor suspension respectively connected to the input of amplifier a feedback signal, outputs of which are connected to signal sensors moment the inner and outer frames bi gyro angular velocity sensor; the mirror is rotatable in two mutually perpendicular planes using a two-degree hinge relative to the center of radiation of the irradiator, rigidly fixed on the basis of the integrated antenna device, while the mirror is pivotally connected by rods of the mechanical coordinator of the integrated antenna device, respectively, with the outer frame and the inner frame of its biaxial cardan suspension so that the distance between each of the hinges on the rear surface of the mirror and its center of rotation is equal to the state between each of the hinges mounted respectively on the outer frame and on the inner frame of the biaxial cardan mount of the integrated antenna device and the center of rotation of these frames; the integrated antenna device also includes a control signal generating unit proportional to the specified angular velocity of rotation of the mirror in the vertical plane, a control signal generating unit proportional to the specified angular velocity of rotation of the mirror in the horizontal plane, and, in addition, a signal scaling unit taken from the output the site of the formation of the control signal of the specified angular velocity of rotation of the mirror in a vertical plane connected to the input of the sensor the moment of controlling the direction of rotation of the outer frame of the triaxial cardan suspension of the gyroscope rotor, the signal taken from the output of the signal scaling unit from the output of the unit for generating the control signal of the angular velocity of mirror rotation in the vertical plane is proportional to the projection of the absolute angular velocity of the mirror rotation on the transverse axis of the coordinate system, associated with the mirror, the output of the control signal generating unit proportional to the specified angular velocity of the mirror turning into the horizon ial plane, connected to the input of the signal sensor of the moment of control of the direction of the inner frame of the triaxial cardan suspension of the gyro rotor; the outputs of three one-component accelerometers are connected respectively to the first, second and third inputs of the CVC, the outputs of the two-channel gyroscopic angular velocity sensor and the output of the scaling unit are connected to the fourth, fifth and sixth inputs of the CVU, the output of the external angle sensor and the internal angle sensor the biaxial cardan suspension of the integrated antenna device is connected to the seventh and eighth input of the CVC, respectively, the first and second input of the CVC are connected respectively to House unit generating a control given by the angular velocity of the mirror signal in a vertical plane and with an input unit generating a control signal given by the angular velocity of the mirror in a horizontal plane; the informational ninth input of the CVU is connected by an information line to the equipment for generating a regular array of coordinate signals of initial determination and establishment of a given OB and the initial exhibition of inertial direction finding of a given OB external to the claimed system, the informational third output of the CVU is connected by an information line of communication through which an array of signals is received necessary for generating homing signals of a mobile carrier to a given OB, with equipment for generating control signals by Vision carrier external to the inertial system claimed autotracking predetermined RH.

Images