RU2529241C2 - Method of combat machine fire on target and system to this end, method of definition of experimental dependence of pointing direction angular velocity - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: set of inventions relates to weaponry, particularly, to combat machine fire complex. Proposed method comprises target capture and identification, tracking with simultaneous range finding and determination of fire angle correction proceeding from mathematical expressions. Here, used input parameters include, in particular, magnitudes of angular velocities fed from controls of operator or commander. Besides, this method comprises continuous displacement of gun or machine gun relative to pointing direction with allowance for their barrel angle corrections and fire on target. In determination of fire angle corrections, magnitudes of angular velocities corrected with allowance for experimental dependence of pointing direction angle velocities predefined before fire. In compliance with this invention, this incorporates control unit and device for correction of pointing direction angle velocity in horizontal and vertical channels. To determine experimental pointing direction angle velocity, turret or weapon unit is displaced in horizontal or vertical channel, respectively. At every displacement and elapse of preset time turn angles are measured to define target angle velocity of pointing direction. Obtained magnitudes are used to reproduce the dependence of pointing direction angle velocity on angle velocity fed from controls of operator or commander or autotracker.

EFFECT: higher accuracy and efficiency of fire.

6 cl, 5 dwg

Description

The invention relates to the field of armament and military equipment, in particular to firing an armament complex of a combat vehicle (BM) at a target, for example, using a machine gun (gun) installation.

A known method of firing BM, which consists in detecting and identifying a target, capturing a target for tracking, tracking a target with an aiming-navigation system with the delivery of the necessary parameters to the on-board computer, determining angular corrections of firing in the vertical and horizontal channels α and β, respectively, from the ratios

α * = α ₀ (D _Y ),

β * = ω _C τ-z,

α = α * -βsinγ,

β = β * + αsinγ,

D _Y = D _Y (B, ΔT _B , Δv ₀ , ΔT _s , ΔH)

where α is the angle of aim;

γ is the angle of heel;

t _floor - flight time of the projectile at a range;

ω _c - the relative angular velocity of the target in the horizontal plane;

D _Y , D - respectively, the anticipated and current range to the target;

z - derivation correction;

ΔT _B , ΔT _z , ΔH - deviation, respectively, of the air temperature and charge, air pressure from normal;

Δv ₀ - deviation of the initial velocity of the projectile from the nominal value,

refinement of these amendments by power drives of a machine-gun (gun) installation (PU) and firing at targets / 1 Product 1B539. Technical description PBA 3.031.039 TO Tula, KBP, 1985, pp. 12-16 /.

To implement this method, there is a subsystem that includes an aiming and navigation system, an on-board analog computer, power drives, a machine-gun (gun) installation / 2 Shipunov A.G., Berezin S.M., Bogdanova L.A. Combat vehicles with anti-aircraft properties // Military Parade, No. 4 (July - August) - 2004 /.

The disadvantage of this method and the system that implements it is a large (hundreds of meters) systematic error when shooting at high-speed, in particular aerial, targets, due to the neglect of the shooting algorithm, in particular the angular velocity of the line of sight in the vertical plane, and the neglect of the speed of approach of the target to the carrier.

In addition, with the existing instrument implementation of sights, in particular 1K13-2 / 2 / sight, accompanying shooting in the near zone is impossible due to restrictions on the angular velocity of the line of sight (ω ^max = 3-6 deg / s) and restrictions on the pumping angle vertical line of sight (ε <30 °).

Therefore, the closest technical solution, selected as a prototype, is a method of firing weapons of a combat vehicle (BM) at a target, including target detection and recognition, target tracking and tracking with simultaneous ranging, determination of angular corrections of firing from mathematical expressions using as input parameters, in particular, values of angular velocities coming from the gunner or commander’s controls, a constant deviation taking into account the angular corrections of the barrel in a cannon or machine gun installation (PU) relative to the line of sight and target shooting / 3 Patent of Russia №2172463. A method of firing a combat vehicle at a target and a system for its implementation. Shipunov A.G., Berezin S.M., Bogdanova L.A. 08/20/2001. Bull. No. 23 dated 08/20/2001 (prototype) /.

To implement this method, a system is known for firing a BM weapon system at a target, containing a first adder in series, a PN or PC indicator, a control body of a PN or PC, respectively, in the “manual” target tracking mode or an automatic tracking machine in the automatic target tracking mode, the second adder connected in series and a power drive of horizontal or vertical guidance of the weapon stabilizer, the output of which is connected through the corresponding feedback sensors to the first input of the second the first adder, the second input of which is connected to the BV output, respectively, along the horizontal and vertical channels, the inputs of which are connected to the sensors of the navigation system and environmental sensors, as well as the tracking drive, PN or PC, whose output is connected to the third input of the second adder and through the corresponding sensors - with the input of a ballistic computer (BV), and by a feedback signal - through the first adder with a PN or PC indicator, respectively / 4 S. Suvorov. Fire control systems for tanks and infantry fighting vehicles // Magazine "Equipment and armaments yesterday, today, tomorrow", No. 11-12 (October-November) - 2004. Pages 24-26 (prototype) /. Figure 1 presents the functional diagram of the firing system of the weapons system of modern BM.

The disadvantage of this method and the system that implements it is the decrease in firing accuracy due to the significant difference between the values of the angular velocities of the line of sight used in determining angular corrections of shooting, especially those received in the ballistic computer (BV) from the outputs of the PUN (PUK), from their real values.

The objective of the proposed method and the system that implements it is to increase the accuracy and, accordingly, the efficiency of firing BM weapons at moving, in particular air targets, in particular at high-speed targets, as well as at ground targets moving in the frontal plane, especially for large projectile flight times, due, in particular, to low-speed ballistics and long ranges, as well as when firing from a mobile carrier, by clarifying the values of the angular velocities of the line of sight.

In addition, the task was to reduce the requirements for the pickup characteristic, and from here - the requirements for manufacturability, precision manufacturing of devices (equipment, components) that are part of the fire control system (FCS) in terms of non-linearity and asymmetry of characteristics, the width of the "dead zone", " drift gyroscopes sights. It should be noted a significant scatter of these characteristics and their individual character for each device.

The problem is solved in that in the known method of firing BM weapons at targets, including target detection and recognition, target tracking and tracking with simultaneous ranging, determination of angular corrections of firing from mathematical expressions using, in particular, angular values as input parameters speeds coming from the control of the gunner or commander, a constant deviation, taking into account the angular corrections of the barrels of the gun or machine gun installation (PU) relative to the line of sight and target shooting, according to the invention, when determining the angular corrections of shooting, the angular velocity values are used, taking into account the experimental dependence of the angular velocity of the line of sight realized by the gunner’s sight (PN) or the commander’s sight (PC) on the signal received from the exit of the gunner’s or commander’s controls during “manual” tracking of the target or from the exit of the automatic tracking machine with automatic tracking of the target, and this depends awn channels defined for horizontal and vertical guidance for each combat vehicle for each shooting mode.

The problem is also solved by the fact that the known system of firing a BM weapon system at a target, containing a first adder, a PN or PC indicator, a control body of a PN or PC, respectively, in the "manual" target tracking mode or automatic tracking machine in the automatic target tracking mode connected the second adder and the power drive horizontal or vertical guidance of the weapon stabilizer, the output of which is connected through the corresponding feedback sensors with the input of the second adder, the second input of which is connected to the BV output, respectively, along the horizontal and vertical channels, the inputs of which are connected to the sensors of the navigation system and environmental sensors, as well as the tracking drive, respectively, PN or PC, the output of which is connected to the third input of the second adder and through the corresponding sensors - with the input of a ballistic computer (BV), and according to the feedback signal - through the first adder with the PN or PC indicator, respectively, according to the invention, it is equipped with directly connected by the control unit (CU) and the device for correcting the angular velocity of the line of sight along the horizontal and vertical channels, the output of which is connected to the input of the BV, the inputs of the CU connected to the output of the control unit of the ST or PC with “manual” tracking of the target or with the output of the machine tracking automatic tracking of the target, and the second output of the control unit is connected to the input of the tracking drive PN or PC.

The task is also solved by the fact that in the particular case of implementation, the PN or PC indicator is a sighting channel with an eyepiece and PN or PC scales with “manual” tracking of the target or a video viewing device (APU) of the PN or PC with automatic tracking of the target, and the governing body is the remote control the gunner’s control (PUN) or the commander’s control panel (PUK), respectively, and the tele-thermal imaging automatic control (ASOTT) is the automatic tracking device.

The problem is also solved by the fact that in the particular case of the implementation, the device for correcting the angular velocity of the line of sight is made in the form of a digital input-output device for implementing a given program for correcting the angular velocity.

The problem is also solved by the fact that, in order to determine the experimental angular velocity of the line of sight, according to the invention, sequentially using a specially organized bench for measuring angular velocity for each given angular velocity, the turret or weapon unit is moved alternately by supplying the corresponding electric signal from the BV to the input of the tracking machine respectively, along horizontal or vertical channels, at each movement after a specified time, their angles of rotation are measured a) determine the desired angular velocity of the line of sight, respectively, along the vertical and horizontal channels, and all measurements are made in steady-state modes, using the obtained values, they reproduce the dependence of the angular velocity of the line of sight, realized by the PN or PC of the tested BM weapon complex, on the angular velocity coming from the control Mon or PC or automatic tracking, and remember this dependence.

The problem is also solved by the fact that according to the invention, the experimental dependence of the angular velocity in a tabular form is stored in a limited number of points, determined on the basis of the memory volume of the explosives and the required accuracy of reproduction of the angular velocity.

The problem is also solved by the fact that according to the invention, a specially organized stand for measuring angular velocity contains the following series-connected subsystems: BV and automatic tracking - as a setting device for the angle and time of the turn of the tower and the barrel unit; Control unit, tracking drive PN or PC - as the tested section of the circuit; a power drive of a horizontal or vertical channel, a heading sensor of a tower or a position sensor of a block of shafts along horizontal and vertical channels, respectively, and a recording device as a measuring part.

It is organized in such a way using the proposed systems that, according to the method, it improves the accuracy of shooting at a moving, in particular aerial, target, especially at high-speed targets, as well as at ground targets moving in the frontal plane. Thereby, the object of the invention is achieved. This allows us to conclude that the claimed invention is interconnected by a single inventive concept.

A comparative analysis of the claimed solutions with the prototypes shows that the claimed method differs from the known one in that when determining the angular corrections of firing, the values of angular velocities are corrected, taking into account the experimental dependence of the angular velocity of the line of sight, realized by the PN or PC, on the signal received from the exit of the control unit of the PN or PC with "manual" tracking of the target or from the exit of the tracking machine with automatic tracking of the target.

Continuous improvement of the equipment of fire control systems (LMS) of armored vehicles, in particular through the introduction of new sensor equipment, allows to increase the number of parameters taken into account and increase the accuracy of obtaining primary information.

In the simplified non-automated control systems of standard BMP-1, BMP-2, the proportion of errors in the preparation of the initial data could reach 95-99%, primarily due to inaccurate range determination. The introduction of a frequency laser rangefinder allows not only to increase the accuracy of shooting, but also to redistribute the contribution of individual error groups.

In existing tanks and infantry fighting vehicles (BMD), the signal about the angular velocity when firing at moving, in particular high-speed, air targets, is one of two critical input parameters of the firing algorithm that determine firing accuracy. An analysis of the contribution of error components showed that if in the near zone when shooting at high-speed targets the contribution of errors in determining the approach speed and firing range prevails, then with increasing range, the contribution of errors in determining the angular velocity of the line of sight increases / 2 /.

In modern FCS of armored vehicles: tanks, for example T-80, lightly armored vehicles, for example BMP-3, BMD-4, a signal (for example, in the form of voltage) is output from the PUN (PUK) output when tracking the target as an analog of the angular velocity of the line of sight a gunner (commander) or from the exit of a tele-thermal imaging tracking machine (ASOTT) with automatic target tracking. In other words, the method of measuring angular velocity is widespread by indirectly determining the angular velocity of the line of sight based on the measurement of the guidance signal supplied to the gyroscopic angle sensor. An illustration is the scheme of the MSA of a modern tank, given in / 4 /, p. 25, see figure 1.

As noted in the literature, this method of measuring angular velocity leads to large errors in determining lead angles in existing SLAs ((2.2-2.6) mrad / 8 /). This significantly reduces the accuracy of pointing weapons, in particular tank guns.

Objectively, the operator or the tracking machine is controlled (the tracking circuit closes) according to deviations displayed on indicators, for example, video viewing devices (APU) with manual tracking or the tracking machine, based on the characteristics of the "real" circuit, i.e. taking into account the BU, PN (PKP), BV, which are part of the real control loop, see figure 1. At the same time, as mentioned above, the analogue of the angular velocity is received from the control elements, in particular, the PUN (PUK), at the input of the BV.

With this method, the features and characteristics of the real circuit caused by the following circumstances are not reflected:

- control unit introduces signal distortion due to

- nonlinearity of the characteristics of the amplifier, zero bias;

- expansion (underlining) of these zones by gain factor BU.

Due to this, with a zero input electrical signal, a signal is generated at the output of the control unit, each control unit has its own, but constant for this control unit.

- PN (PKP), in turn, introduces its distortions due to

- dead zones of the type "dry friction" arising due to friction in the bearings of the gyroscope;

- "drift" (withdrawal) of the gyroscope.

This leads to the movement of the tower or block of weapons with a zero input signal and the absence of their movement in the presence of an input signal. Due to the nonlinearity of the characteristics, “asymmetry” is also observed when the tower moves left and right, and the barrel block moves up and down.

Figure 3 presents the experimentally filmed tuning characteristics that illustrate the above.

Since the operator (ASOTT) combines the reticle with the target and holds it on the target, using the passage of the signal in a real circuit, i.e. including the section: BU, PN (PKP), which, in turn, includes angle and torque sensors, a gyroscopic angle sensor, an amplifier, a sight mirror, introducing distortions, and compensates for its various transfer functions with the nonlinearities introduced by each element, the control the signal coming from the PUN (PUC) or ASOTT, compensating for these nonlinearities, carries (reflects) them. Moreover, the more significant non-linearities (distortions) are introduced by the circuit elements, the more “jerky”, “ragged” character the tuning characteristic will have, see FIG. 3.

Thus, when the angular velocity signal arrives directly from the PUN (PUK) potentiometers or from the ASOTT output, it will be all the more distorted, different from the real one, the greater the non-linearity of the missing section of the circuit: PUN output (PUC) - control unit - PN output (PCP )

Therefore, taking into account the characteristics of the missing section of the "real" circuit by the proposed method will eliminate the systematic errors that arise due to the difference between the real characteristics of the circuit elements from ideal or, at least, eliminate their main part. Moreover, the proposed sequence of operations is required to be carried out once for each combat compartment of the BM during the adjustment work, for example, at the stage of acceptance tests.

A method for removing the tuning characteristic and a stand for measuring the real angular velocity using standard components of the FCS of the weapons complex, in particular, BV and ASOOT, is proposed as a setting device for the angle and time of movement of the tower in the horizontal plane (position sensor in the vertical plane), as well as the drive of the horizontal (vertical) guidance, heading sensor (position sensor) and recording device as a measuring part, see figure 4.

The "digital" nature of operations, the use of a target tracking machine allow tuning to be performed with high accuracy, at minimal cost and testing time.

It should be noted that according to the results of tests of the firing circuit obtained in the course of field experiments, the stabilizer control unit, in general the stabilizer with a tower and a weapon unit, the sensors included in the measurement circuit, see the stand of Fig. 4, can be considered as inertialess links that do not introduce additional distortion in the angular velocity signal. A necessary condition for this is to take measurements in steady-state modes: the angles and time of movement of the tower and block of trunks should be counted for each given angular velocity after the end of transient processes.

Figure 1 presents the functional diagram of the complex weapons of the prototype:

1 - ballistic computer (BV); 2 - weapons stabilizer; 3 - telemetry-vision tracking machine (ASOTT); 4 - control body gunner commander; 5 - gunner’s sight (PN) or commander’s sight (PC); 6 - drive tracking PN (PC); 7 - PN indicator (PC); 8 - power drive GN (VN); 9 - feedback sensor; 10 - MSA sensors; 11 - PU; 12 - the first adder; 13 - the second adder.

Figure 2 presents the functional diagram of the proposed firing system of the weapons system BM:

14 - control unit (BU); 15 is a device for correcting the angular velocity of the line of sight.

Figure 3 (a-c) shows, as an example, experimentally recorded crosstalk characteristics for various BMs in the firing mode for aerial (AIR) and ground targets (EARTH): in Fig. 3a for PN, in Fig. 3b for PC . Fig.3c illustrates the difference in characteristics for the shooting modes at air and ground targets.

Figure 4 presents the diagram of the stand for determining the experimental dependence of the angular velocity realized by the sight on the signal coming from the output of the control panel or ASOOT:

16 - recording device.

Figure 5 presents a diagram of the formation of the angular corrections of firing in the BV, taking into account the device for adjusting the angular velocity:

17 - block accounting roll angle; 18 - survey and sighting system; 19 - navigation system; 20 is a block of data on the external environment; 21 - block forming the lead angle Δβ; 22 - block correction for ballistic wind along the horizontal channel; 23 - block correction for parallax on the horizontal channel; 24 - block forming the lead angle Δε; 25 - block correction for longitudinal wind along a vertical channel; 26 - block correction for parallax along the vertical channel; 27 - block formation pre-emptive range D _Y ; 28 - block forming the approximation speed D; 29 - block forming flight time t _floor ; 30 - block forming the absolute initial speed v ₀₁ ; 31 - block generating angles of aiming α ₀ and derivation β _ν ; 32 - block angle elevation ε; 33 - power drive horizontal guidance; 34 - power drive vertical guidance; 35 is a device for the formation of lead angles.

To confirm the technical feasibility, the following is an example of the functioning of the inventive system / 5 /, see figure 1-2.

The main mode of operation of the BM when firing unguided weapons is the "Automatic" mode: sub-modes "Avt-N" (from the gunner's position) and "Avt-K" (from the commander's place). In this mode, for example, from the gunner’s position, search, detection, target identification, tracking with distance measurement to the target are carried out day and night.

A variant of the system functioning from the place of the gunner (commander) is presented below.

The gunner (commander), observing the deviation of the crosshair of the sight relative to the target and eliminating it by pointing the PN (PC) mirror (5) vertically and horizontally with the arms and body of the PUN or PUK (in the diagram of FIGS. 1, 2 - control 4), tracking the target in manual mode. When switching to the "Automatic" mode, target tracking is carried out according to the commands generated by ASOTT (3) / 5 /.

The signal from the sensors of the position of the mirror of the tracking drive (6) PN or PC (5) vertically, in accordance with the scheme of figures 1, 2, enters the arms stabilizer (2), where it is compared with the signal of the gun position sensor (9), which is mechanically connected with the axis of rotation of the weapon block. The error signal is amplified and fed into the vertical guidance drive, which leads to the rotation of the weapon in the direction of reducing the mismatch. When deviating from the stabilized position of the PN or PC mirror (5) horizontally, an error signal occurs which is removed from the PN or PC mirror position sensor (9) horizontally, amplified and fed to the horizontal guidance drive, which leads to the rotation of the tower to reduce the mismatch .

BV (1) polls the sensors and generates current corrections to the aiming and lead angles, which are then automatically processed by the weapon stabilizer (2) in accordance with the selected type of ammunition, measured by the distance to the target D, speed and direction of movement of the target, the vehicle’s own speed (v _H ), heading angle to the target (q), own roll (γ) and the trim of the machine (ϑ), data constantly coming from sensors of external conditions: the transverse component of wind speed (W _z ), air temperature (T _c ), charge temperature poison (T _s ).

As an example, Fig. 5 shows a diagram of the formation of angular corrections for firing Δβ, Δε in a BV, taking into account the device for adjusting the angular velocity of the line of sight 15: in a particular case, its outputs are connected to the inputs of the device for forming angles of lead by horizontal and vertical channels 35, while on the angular velocity of horizontal guidance - with the inputs of the block forming the lead angle Δβ 21; a ballistic wind correction unit along the horizontal channel 22, a lead formation unit 27, and an angular velocity of vertical guidance — with the input of the lead angle formation unit Δε 24; block correction for longitudinal wind along the vertical channel 25, the block forming the pre-emptive range 27/7 /.

Thus, in the considered modes “Avt-N” (from the gunner’s place) and “Avt-K” (from the commander’s place), the aiming line of the PN or PC (5) is guided by the control action from the PUN (PUK), tracking the weapon along the line aiming (according to the sensors of the angular position of the sights), taking into account the amendments issued by the BV (1).

For these purposes, the stabilizer control unit performs the summation, conversion, and amplification of the control signals for the vertical (34) and horizontal (33) guidance drives, before that, after switching the electrical networks in advance, to ensure the given operating mode of the stabilizer (2) and the control system.

In the power amplifier EDM-180, the control signal of the corresponding executive engine along the vertical channel is amplified by power, similarly - along the horizontal channel by the GN engine - EDM-700.

Electric motors EDM-180, EDM-700 are executive engines of a vertical guidance drive (for a modernized BMP-2, lifting mechanisms of an automatic gun, automatic grenade launcher, right and left launchers) and a horizontal guidance drive (turret swivel mechanism) / 5 /.

The signal about the angle of the barrel lift from the corresponding position sensor (DP) via the feedback channel (9) is sent to the stabilizer control unit, where it is compared with the signal received from the PN tracking drive (PC) (via a rotating sight transformer).

Below, as an example, the following sequence of actions is given when setting the accuracy of working out corrections to the lead angle by the angular velocity of the target / 6 Combat compartment Б05Я01. Setup Instructions. TKB 844.00.00.000 RE, item 4.11, p. 34-35 /.

1. The power of the fighting compartment (BO) is turned on. The automatic operation mode of the system is selected by setting the “Mode” toggle switch.

2. The EARTH mode is selected using the EARTH-AIR toggle switch and the type of ammunition used by turning on the MZ toggle switch on the operator’s panel and pressing the PSU button on the PUN (B30 or O30) or the “PSU selection” button on the commander’s panel.

3. Enter the reconciliation mode one after another, then enter the setup mode. The manual range input knobs on the ballistic computer panel reset the range, and the input corrections handles for external conditions are set to the initial (zero) position.

4. Go to the angular velocity setting mode along the horizontal (vertical) channel; for this, they first go into the target auto-tracking mode by simultaneously pressing and holding the RAM and ZACK buttons on the PUN when capturing the target with a frame.

5. Begin the movement of the BO along the GN (block of trunks - along the BH) at a given speed and at the same time, repeating this operation for several given points (angular velocities), stopping the BO movement after a specified time. Measure the angles. Save the accumulated information.

6. Repeat steps 3-6 for the AIR mode, then for the UPR mode (guided missile firing), then paragraphs 2-5 for the commander’s sight (PC), except for the UPR mode.

From the above sequence of actions it can be seen that the method for determining the experimental dependence of the angular velocity of the line of sight is used in various modes: when firing artillery weapons at ground targets, at air targets, when firing guided weapons, when used in the firing circuit from PN and PC (from the spot) gunner and from the commander’s place), as well as for horizontal and vertical channels of the circuit.

In the recording device (figure 4), the following operations are performed.

1. Determine in the steady state (after the end of transient processes) the values of the angle φ and the time t of the turn of the barrel unit (or tower)

Δt = t ₂ -t ₁ ,

where t ₁ is the end time of transients;

t ₂ - end time of the U-turn;

.pivot speed

.

The time between angle measurements is determined based on the required accuracy of determining the angular velocity (δ≤0.1 mrad / s) and (δ _rel ≤0.05ω).

2. Remember in tabular form arrays of numbers representing the dependences of the "real" angular velocity of the line of sight on the electrical signal (voltage), which is an analog of the ideal angular velocity (coming from the PUN (PUC) or ASOTT) for horizontal and vertical channels, for various modes, given above.

3. Using the experimentally obtained points, the dependence ω (u) is constructed (see the curves in Fig. 3), approximated by the least squares method with piecewise linear dependencies of the form ω = au + b at n intervals, where n is assigned based on the available memory size the required speed and accuracy of reproducing the dependence ω (u).

4. The received data is stored for subsequent reproduction and use of the experimental dependence in a digital input-output device for implementing a given program for correcting angular velocity.

The use of the proposed method and the system that implements it will provide the following advantages over existing ones:

- improving the accuracy of fire and hence its effectiveness in moving, in particular air, targets, especially in high-speed, as well as ground targets moving in the frontal plane; this is especially important when shooting with low-speed ballistic shells and at long ranges;

- improving the accuracy of shooting from a mobile carrier;

- expanding the range of fired targets in terms of increasing their speed; expanding the conditions for the combat use of BM artillery weapons, used, in particular, for protection against air attack means, in terms of the course parameter and the span of potentially bombarded targets;

- reduced requirements for the pickup characteristic, and hence to the manufacturability, accuracy of manufacturing devices (equipment, components) that are part of the LMS in terms of non-linearity and asymmetry of characteristics, the width of the "dead zone"; ultimately, this will reduce the cost of the LMS and the entire BM as a whole;

- ensuring ease of setup, the ability to reduce the requirements for staff qualifications;

- elimination or, at least, reduction, of oscillatory, transient processes caused by inaccuracy in the formation of control signals issued by the BV due to inaccuracy of the input information entered into it by angular velocity; this is important in connection with the emphasis on their firing contour due to the expanded bandwidth of the new BMD-4 type BM stabilizer digital stabilizer, the upgraded BMP-2.

Information sources

1. Product 1B539. Technical description PBA 3.031.039 TO Tula, KBP, 1985, pp. 12-16.

2. Shipunov A.G., Berezin S.M., Bogdanova L.A. Combat vehicles with anti-aircraft properties // Military Parade, No. 4 (July - August) - 2004.

3. Patent of Russia No. 2172463. A method of firing a combat vehicle at a target and a system for its implementation. Shipunov A.G., Berezin S.M., Bogdanova L.A. 08/20/2001. Bull. No. 23 dated 08/20/2001 (prototype).

4. S. Suvorov. Fire control systems for tanks and infantry fighting vehicles // Magazine "Equipment and armaments yesterday, today, tomorrow", No. 11-12 (October-November) - 2004. Pages 24-26 (prototype).

5. The fighting compartment. Manual. Part 1 Technical description of the B8NW 1.00.00.000 OM.

6. Fighting compartment Б05Я01. Setup Instructions. TKB 844.00.00.000 P2, item 4.11, p. 34-35.

7. Patent of Russia No. 2290594. The method of firing a combat vehicle at a high-speed target (options) and a system for its implementation. Bogdanova L.A., Berezin S.M. Bull. No. 36 dated 12/27/2006.

8. B.I. Ginsburg, G.G. Golub, L.A. Dymnikov. On the choice of the structure of tank devices for measuring the angular velocity of a target // Journal of Defense Technology Matters, Series XX, issue 38, 1973. Pages 23-29.

Claims (6)

1. The method of firing the weapons of a combat vehicle (BM) at a target, including target detection and recognition, taking for tracking and tracking a target with simultaneous ranging, determining angular corrections of firing from mathematical expressions using, as input parameters, in particular, angular velocity values, coming from the control of the gunner or commander, a constant deviation, taking into account the angular corrections of the barrels of the cannon or machine gun installation (PU) relative to the line of sight and firing at whether, characterized in that when determining the angular corrections of firing, the values of angular velocities are used, adjusted taking into account the experimental dependence of the angular velocity of the line of sight realized before the firing realized by the gunner’s sight (PN) or the commander’s sight (PC) from the signal coming from the control gunner or commander with "manual" tracking of the target or from the exit of the tracking machine with automatic tracking of the target, and this dependence is determined for the mountain channels isontal and vertical guidance for each combat vehicle for each shooting mode. 2. A system for firing a BM weapon system at a target, containing a first adder, a PN or PC indicator, a control body of a PN or PC, respectively, in the "manual" target tracking mode or an automatic tracking machine in the automatic target tracking mode, a second adder and a power drive connected in series horizontal or vertical guidance of the weapon stabilizer, the output of which is connected through the corresponding feedback sensors to the first input of the second adder, the second input of which it is single with the BV output, respectively, along the horizontal and vertical channels, the inputs of which are connected to the navigation system sensors and environmental sensors, as well as the tracking drive PN or PC, the output of which is connected to the third input of the second adder and through the corresponding sensors to the input of the ballistic computer ( BV), and according to the feedback signal - through the first adder with the PN indicator or PC, respectively, characterized in that it is equipped with a control unit (CU) and devices connected in series ohm of adjusting the angular velocity of the line of sight along the horizontal and vertical channels, the output of which is connected to the input of the BV, and the inputs of the control unit are connected to the output of the control unit PN or PC with “manual” tracking of the target or the output of the automatic tracking machine with automatic tracking of the target, and the second output of the control unit connected to the input of the tracking drive PN or PC. 3. The system according to claim 2, characterized in that the indicator is a sighting channel with an eyepiece and scales of PN or PC with "manual" tracking of the target or a video viewing device (APU) of PN or PC with automatic tracking of the target, and the governing body is the control panel, respectively gunner (PUN) or the commander’s control panel (PUK), and automatic tracking - tele-teplovizovny automatic tracking (ASOTT). 4. The system according to claim 2, characterized in that the device for correcting the angular velocity of the line of sight is made in the form of a digital input-output device for implementing a given program for correcting the angular velocity. 5. The method for determining the experimental angular velocity of the line of sight, realized by the PN or PC, which consists in the fact that using the specially organized bench for measuring the angular velocity for each given angular velocity, the tower is moved alternately by supplying the corresponding electrical signal from the BV to the input of the tracking machine or weapon block, respectively, along horizontal or vertical channels, at each movement after a specified time, their rotation angles are measured, determined the desired angular velocity of the line of sight, respectively, along the vertical and horizontal channels, and all measurements are made in steady-state modes, the obtained values reproduce the dependence of the angular velocity of the line of sight, realized by the PN or PC of the tested weapon system BM, on the angular velocity coming from the controls of the PN or PC or automatic tracking, and remember this dependence. 6. The method according to claim 5, characterized in that the experimental dependence of the angular velocity in a tabular form is stored by a limited number of points, determined on the basis of the memory volume of the BV and the required accuracy of reproduction of the angular velocity.

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