RU2539824C1 - Small-size aircraft target homing system - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: system comprises an antenna, an autodyne radar with two outputs, an electronic switch, a memory unit, a first computing unit, a second computing unit, a logic device, a control device a timer and a deviation signal estimation unit, comprising n threshold devices, signal setting devices and an OR element. The output of the second computing unit is connected to the input of the deviation signal estimation unit, the inputs of which are the first inputs of the n threshold devices, the second inputs of which are connected to the outputs of the signal setting devices, and the outputs of the n threshold devices are connected to inputs of the OR element, the output of which is the output of the deviation signal estimation unit.

EFFECT: high accuracy of guiding guided missiles to a target by taking into account the deviation of the missile from the missile-target line of sight.

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Description

The invention relates to navigation technology and is intended primarily to solve the problem of homing short-term interacting small-sized aircraft using the “chase” method (or the so-called “attack curve” method).

The problem of controlling mutual movement in the space of aircraft arises in many practical cases, for example, at the final stages of controlling the movement of short-term interacting aerospace objects in order to dock them, in case of emergency aerospace assistance, when aiming a rocket at a target, etc. [one].

Despite the fact that the search for solutions to the possible homing of small-sized unmanned aerial vehicles, such as, for example, air-to-air missiles, air-to-air missiles, and others using the chase method, has been carried out for decades (see, for example, [2 ]), to date, this problem has not been practically resolved, because the proposed solutions are associated with the need to use complex antenna systems and gyroscopic coordinators.

There are various homing devices that use the solution of the task of controlling the flight path of aircraft using the “chase” method, which are described, for example, in the literature [1, 4, 5].

A homing device is described in [6], which contains an antenna, a radar, a timer, a gyroscope, a stabilized platform, an initial installation motor, a goniometer radio sensor and a control device.

In such a homing device, according to the command post, the initial installation motor installs a pointed antenna on a stabilized platform so that its axis of the equal-signal zone coincides with the direction to the target. In the initial homing process, the radar, on a command from the timer, together with the gyroscope measures the angle of deviation of the direction to the target from the direction of the antenna signal area. The error signal from the radar output is fed to a control device that corrects the rocket's trajectory.

Such a relatively complex and bulky device containing a highly directional antenna and a gyroscopic coordinator cannot always be implemented in products of limited size, including many small-sized missiles. Therefore, the main problem arises - the creation of a homing method for the "chase" for aircraft of limited size, in particular for small missiles.

Closest to the invention is a homing device that contains an antenna, an autodyne radar with two outputs, an electronic key, a memory unit, a first computing unit, a second computing unit, a logic device, a control device and a timer, while the antenna is connected to the first input of the radar, the first the output of which is connected to both the first signal and the second blocking input of the electronic key, and the second output of the radar is connected to the first input of the first block of calculations, the output of the electronic key connected to the input of the memory unit and the second input of the first computing unit, the output of which is connected to the first input of the second computing unit, the output of which is connected to the input of the logic device, the first and second outputs of which are connected respectively to the first and second inputs of the control device, the output of the memory unit is connected to the second input of the second block of calculations, and the timer output, to the input of which an external “Start” command is supplied, is connected to the second input of the autodyne radar, which has two outputs of working signals, images nnyh, respectively, amplitude and frequency modulation in the inner Avtodina and transceiver antenna is omnidirectional and [7].

The disadvantage of this device is the low accuracy of targeting small-sized aircraft due to poor information support of the convergence process.

In the process of approaching a small-sized aircraft for the purpose, only the side of the deviation is determined due to the simultaneous assessment of the radial and tangential components of the total velocity “target-rocket” by the Doppler frequency. Depending on the direction of the velocity vector ″ target-rocket ″ determined, for example, by the direction of the rocket’s speed, the relative values of the Doppler frequencies of the radial and tangential components can be either equal to each other, or relatively large, or relatively smaller.

So, for example, provided that the relative values of the Doppler frequencies of the radial and tangential components are more than unity, it means that it is necessary to rotate the rocket’s construction axis in one direction, and if it is less than unity, it should be rotated in the opposite direction, but not Signal deviation values are taken into account.

The aim of the invention is to increase the accuracy of guidance based on the deviation of the small-sized aircraft relative to the velocity vector ″ target-rocket ″.

The technical result is achieved in that in a homing system that contains an antenna, an autodyne radar with two outputs, an electronic key, a memory unit, a first calculation unit, a second calculation unit, a logic device, a control device and a timer, while the antenna is connected to the first input of the radar, the first output of which is connected with both the first signal and the second blocking input of the electronic key, and the second output of the radar is connected with the first input of the first block of calculations, the output of the electronic key and connected to the input of the memory unit and the second input of the first computing unit, the output of which is connected to the first input of the second computing unit, the output of which is connected to the input of the logic device, the first and second outputs of which are connected respectively to the first and second inputs of the control device, the output of the memory unit is connected with the second input of the second block of calculations, and the output of the timer, the input of which is supplied by an external command ″ Start ″, is connected to the second input of the autodyne radar, which has two outputs of the working signals, images data, respectively, by amplitude and frequency internal modulations in the autodyne, and the antenna is transceiver and slightly directional, an additional unit for estimating the magnitude of the deviation signal is introduced, the input of which is connected to the output of the computing unit, and the output is connected to the third input of the control device, the unit for estimating the magnitude of the deviation signal contains n-threshold devices, a signal setter, an OR element, while the output of the second calculation unit is connected to the input of the unit for estimating the magnitude of the deviation signal, the inputs of which are the first inputs n-rows of threshold devices, whose second inputs are connected to outputs of the set point signals, and n-outputs of threshold devices are connected to inputs of the OR gate, whose output is the output of the deviation signal evaluation unit.

Figure 1 presents the functional diagram of the proposed system, where 1 is the antenna; 2 - autodyne radar; 3 - electronic key; 4 - memory block; 5 - the first block of calculations; 6 - the second block of calculations; 7 - logical device; 8 - control device; 9 - a timer, 10 - a unit for estimating the magnitude of a deviation signal contains 11 - n-threshold devices, 12 - a signal generator, 13 - an OR element.

Figure 2 and 3 graphically shows the interaction of the rocket (P) and the target (C) by the method of "chase" in the meridional plane (along the construction axis of the rocket).

The homing system of small manned and unmanned aerial vehicles contains an antenna 1, which is connected to the first input of the radar 2, the first output of which is connected to both the first signal and the second blocking input of the electronic key 3, and the second output of the radar 2 is connected to the first input of the first block computing 5. The output of the electronic key 3 is connected to the input of the memory unit 4 and the second input of the first computing unit 5, the output of which is connected to the first input of the second computing unit 6. The output of the second unit you number 6 is connected to the input of the logic device 7, the first and second outputs of which are connected respectively to the first and second inputs of the control device 8. The output of the memory unit 4 is connected to the second input of the second computing unit 6, and the output of the timer 9, to the input of which an external command ″ Start ″, connected to the second input of the autodyne radar 2.

Block 10 estimating the magnitude of the deviation signal contains n-threshold devices 11, a signal generator 12, an OR element 13, while the output of the second calculation unit 6 is connected to the input of block 10 evaluating the magnitude of the deviation signal, the inputs of which are the first inputs of n-threshold devices 11 the inputs of which are connected to the outputs of the signal setter 12, and the outputs of the n-threshold devices 11 are connected to the inputs of the OR element 13, the output of which is the output of the deviation signal estimation unit 10.

The autodyne radar 2 has two outputs of the working signals formed respectively by the amplitude and frequency internal modulation in the autodyne, and the antenna 1 is transceiver and low directional.

The start of the proposed homing device (t ₀ ) is set by the timer 9 and the external command ″ Start ″ (Fig. 1) is supplied to its input (for example, when a rocket is fired). As the timer 9 can be used, for example, a safety-executive mechanism (PIM), which is part of the missile fuse, with a clockwork [6].

Before considering the operation of the proposed device, the following assumptions are made.

1) It is assumed that in the process of homing a missile by the “chase” method as a result of its short duration, the target speed V _c and the rocket V _p will be constant values (V _c = const, V _p = const) and the rocket velocity vector V _{p is} directed along it construction axis.

направления ″ракета-цель″.2) It is known [3] that with two-point homing of a missile at a target by the “pursuit” method, a missile (P) flies relative to a target (C) in such a way that the rocket velocity vector V _{p is} constantly directed toward the target along the vector line

directions ″ target missile ″.

″ракета-цель″, всегда равен нулю.With this homing angle β (figure 2), formed by the direction of the rocket velocity vector V _p and the direction of the vector line

″ Target rocket ″ is always zero.

Figure 2 and 3 graphically shows the interaction of the rocket (P) and the target (C) by the method of "chase" in the meridional plane (along the construction axis of the rocket).

3) When the rocket moves at a speed of V _p and the target moves at a speed of V _{c, the} vector of their total speed can be decomposed into two components: radial and tangential (Fig. 2). The radial component of the velocity V _sb can be determined by the traditional radar method [8].

The simultaneous assessment of the radial V _sbl and the tangential V ^τ component of the total velocity ″ target-rocket ″ V _rts (FIG. 2) can be performed using the Doppler frequency of the device described, for example, in [9].

It is known (see, for example, [8]) that the vector of the radial component of the total velocity of approach of objects V _{sbl is} always directed towards the target (Fig. 2, a), and the Doppler frequency F _d.sbl is determined by this speed by the formula

where λ is the wavelength of the radar radar signal.

The Doppler frequency F _d ^τ formed by the tangential component of the total speed of approach of objects V ^τ (Fig.2, a) is determined by the formula

From (1) it follows that the radial component of the total velocity of the rocket and the target V _sbl will always be maximum under the condition α ₀ equal to zero. But at the same time, it follows from (2) that, provided α ₀ is zero, i.e. when combining the vectors of the total velocity V _rc with the vector of its radial component V _sb , the tangential component of the velocity vector V ^τ will be zero ( _figure 2). Such an angular position of the velocity vectors in the space of the meridional plane can be achieved by changing the direction of the rocket's velocity vector V _{p by} turning the position of its construction axis, for example, by an aerodynamic or reactive method.

Thus, the mismatch parameter when controlling the missile by the пог chase ’method is the signal voltage formed by the tangential component of the total velocity of the rocket and the target (U _Fд. ^Τ ). By changing the position of the longitudinal axis of the rocket in the meridional plane so that this signal is absent at the second output of the radar (U _Fd. ^Τ is zero), the condition for the movement of the rocket by the “chase” method is provided, because while the angle (3 becomes equal to zero (figure 2 and 3).

The homing system of guided missiles works as follows (figure 1).

On an external command ″ Start ″ to the input of timer 9 receives a single trigger signal, after which the output of timer 9 at the second input of the autodyne radar 2 receives a signal to turn it on. The autodyne radar 2 begins to generate a continuous unmodulated signal emitted into the space by a weakly directed transceiver antenna 1. When the target is irradiated with this signal, the signal reflected from it through the antenna 1 is fed to the input of the autodyne radar 2.

и второго - текущего значения напряжения сигнала

, поступающего на первый вход блока вычислений 5 со второго выхода автодинного радиолокатора 2, в результате на выходе блока вычислений 5 появится разностный сигнал

In the device in question, an autodyne radar 2 is used, the structural diagram of which is described in the patent [9]. This autodyne has two Doppler frequency outputs. At the first output, there is a signal formed by the radial velocity V _sb , and at the second output, a signal formed by the tangential component V ^{τ of the} total velocity ″ target-rocket ″ V _rts . At these outputs there will be corresponding signal levels: for speed V _{sb the} voltage will be U _Fd.sbl , and for speed V ^{τ the} voltage will be U _Fd. ^τ , i.e. the magnitude of the Doppler frequency signal at the first output of the autodyne radar 2 is proportional to the frequency of the radial component of the total velocity vector ″ target-rocket F F _d.sbl , and at its second output, the Doppler frequency signal is proportional to the frequency of the tangential component of the total velocity vector ″ rocket-target ″ F _d. ^τ . From the first output of the autodyne radar 2, the Doppler frequency signal U _{F.subl is} fed to the first signal and second blocking inputs of the electronic key 3, the output of which is connected to the input of the memory unit 4 and the second input of the first computing unit 5, the first input of which is from the second output of the autodyne radar 2, a signal of the Doppler frequency of the tangential component (U _Fд. ^Τ ) is _received . Then, the electronic key 3 is self-locking ( _turned off) by the signal U _F.sdbl received from the first output of the autodyne radar 2. At the initial instant of operation of the homing device, the voltage of two signals is subtracted in the first block of calculations 5: one of the electronic input to its second input key 3

and the second - the current value of the signal voltage

received at the first input of computing unit 5 from the second output of the autodyne radar 2, as a result, a difference signal will appear at the output of computing unit 5

then arriving at the first input of the second block of calculations 6. The second input of the block of calculators 6 receives the signal of the primary measurement of the Doppler frequency F _do.sl from the output of the memory unit 4 in the form of voltage U _Fdo.ssl .

и второй сигнал поступает на второй вход блока вычислений 6 с выхода блока памяти 4 в виде постоянного значения U_Fдо.сбл, при этом на выходе блока вычислений 6 будет сигнал Z_i, являющийся величиной как частное от деления этих входных величинThus, two signals respectively arrive at the two inputs of the second block of calculations 6: the signal from the output of the first calculator 5 is received at the first input as the current value

and the second signal is fed to the second input of the computation unit 6 from the output of the memory unit 4 in the form of a constant value of U _Fд.сл , while the output of the computation unit 6 will be the signal Z _i , which is the quotient as a quotient of the division of these input quantities

Depending on the direction of the velocity vector ″ target-target ″ V _rts (characterized by the angle α, see FIG. 3), determined, for example, by the direction of the velocity of the rocket V _p , the relative values of the Doppler frequencies V _sbl and V ^τ can be between either equal, or relatively large, or relatively smaller, i.e.

или

or

Accordingly, the relationship of stresses Z _i formed by these velocities through the Doppler frequencies U _Fdo.sbl and

и

and

а на втором - при условии

The signal Z _i from the output of the second block of calculations 6 is fed to the input of the logic device 7, the output of which the signal is fed to only one of its two outputs: the signal will appear at the first output, provided that

and on the second - subject to

The values of the signal values Z _i are control. So, for example, the condition Z _{i is} greater than 1, means that it is necessary to rotate the rocket’s construction axis in one direction, and the condition Z _{i is} less than 1 — to rotate it in the opposite direction.

From one of the two outputs of the logic device 7, the signal is supplied to the corresponding input of the control device 8, which controls the rotation of the rocket construction axis.

At the same time, the deviation signal value is additionally estimated by issuing a signal from the output of the second 6 calculation unit to the input of the deviation signal estimation unit 10 and, accordingly, to the first inputs of n-threshold devices 11, the second inputs of which receive signals from the output of signal setter 12.

Depending on the magnitude of the signals, one of the n-threshold devices 11 is triggered and the signal through the OR element 13 is fed to the third input of the control unit 8.

The influence of control signals is carried out until the condition for the absence of a signal formed by the tangential velocity component “target-rocket” is fulfilled, in which there is no signal at the two outputs of the logic device 7, which confirms the ongoing process of homing the missile at the target using the “chase ″ method .

The homing process continues until the moment of a contact meeting of the rocket with a target. The weak directivity of the antenna allows you to ensure the correct guidance of the rocket by the method of "chase" even with random fluctuations of its axis relative to the target.

Information sources

1. Berezin L.V., Weitzel V.A., Volkovsky S.A. and other fundamentals of radio control. Textbook for high schools. / Ed. V.A. Weitzel, V.N. Tipugina. - M .: Owls. Radio, 1973, p. 464 and others.

2. Locke A.S. Projectile control. Translation from English - M .: State. ed. FML, 1958, p. 775.

4. Maksimov M.V., Gorgonov G.I. Radio control missiles. - M .: Owls. Radio, 1964, p. 644.

5. Volkovsky S.A., Onoprienko E.I., Savinov V.A. Radio control systems for aircraft. - M.: Mechanical Engineering, 1972, p. 408.

6. Gutkin L.S., Borisov Yu.P., Valuev A.A. and others. Radio control of rockets and spacecraft. / Under the general ed. L.S. Gutkina. - M .: Owls. Radio, 1968, pp. 597, 680.

6. Dorofeev A.N. Rocket fuses. Military publishing house of the Ministry of Defense of the USSR. - M. 1963, p. 86, etc.

7. RF patent for the invention No. 2466344. Homing device. Authors Klimashov B.M., Smagin V.A.

8. Kogan I.M. Near radar. Theoretical basis. - M .: Owls. Radio, 1973, p. 272.

9. Patent No. 2351946. Autodyne device near radar system. Author Klimashov B.M.

Claims (1)

The homing system of small aircraft on the target contains an antenna, an autodyne radar with two outputs, an electronic key, a memory unit, a first calculation unit, a second calculation unit, a logic device, a control device and a timer, while the antenna is connected to the first input of the autodyne radar, the first output which is connected to both the first signal and the second blocking input of the electronic key, and the second output of the radar is connected to the first input of the first block of calculations, the output of electronic the key is connected to the input of the memory unit and the second input of the first computing unit, the output of which is connected to the first input of the second computing unit, the output of which is connected to the input of the logic device, the first and second outputs of which are connected respectively to the first and second inputs of the control device, the output of the memory unit is connected with the second input of the second block of calculations, and the timer output, to the input of which the external Start command is applied, is connected to the second input of the autodyne radar, which has two outputs of working signals, the image of amplitude and frequency internal modulations in the autodyne, respectively, and the antenna is transceiver and slightly directional, characterized in that it includes a unit for estimating the value of the deviation signal, the input of which is connected to the output of the second block of calculations, and the output to the third input of the control device, the deviation signal magnitude estimator contains n-threshold devices, a signal master, an OR element, while the output of the second calculation unit is connected to the input of the deviation signal magnitude estimator, the inputs of which og are the first inputs of n-threshold devices, the second inputs of which are connected to the outputs of the signal setter, and the outputs of n-threshold devices are connected to the inputs of the OR element, the output of which is the output of the unit for estimating the value of the deviation signal.

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