RU2581997C2 - Method of determining lateral driving direction of firing from artillery mount and device therefor - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: proposed method consists in that, first, unpiling barrel of artillery mount (hereinafter AM) from “at cruising" position, then barrel is installed in horizontal position and level AM using level to control platform and preparation of elements and units of system to measurements, then measured value of fire direction at change of barrel elevation and mismatch is determined on value of side of fire direction and optical correction on the lateral deviation of fire direction is introduced into AM target guidance control system, wherein levelling of barrel and axes of AM journals is conducted both by turning of turret or by turning of AM cradle rotating part, and value of side of the barrel axis from vertical plane measurement at variation of angles of vertical homing of AM by means of a special device - barrel angular displacement meter (BADM) and barrel angular position measurement results using BADM determined are values of pulpit journals weapon control platform on AM breech angular displacement axes of journals base barrel channel axis, then correction is determined from obtained parameters on lateral deviation of AM fire direction. Also disclosed is original device to implement such method, made in form of barrel angular displacement meter with centering stem inserted in muzzle part of barrel, and measuring unit, inserted into centering stem with help of Morse cone and containing support plate with small-size measuring module including three-axis gyro angle transducer and three-axis acceleration sensor, wherein base plate of measurement unit is connected to Morse cone through controlled ball support.

EFFECT: disclosed is highly efficient group of inventions in artillery involving method of determining lateral driving direction of firing from AM and device for its implementation.

2 cl, 5 dwg

Description

The group of inventions relates to the field of artillery, and more specifically to means for ensuring the accuracy of firing of artillery systems.

There are various ways to increase the accuracy of shooting from different types of weapons. See, for example, RF patents for inventions: No. 2162587, 1999, 2213928, 2001, 2230280, 2003, 2234654, 2000, 2267076, 2004, US patent No. 5205168, 1993. EPO patent No. 1291599, 2003, Germany patent No. 60017377, 2006, Belgium patent No. 809102, 1974, US patent No. 2001039874, 2001, and others.

All of the above known methods do not provide a determination of the error of lateral withdrawal of the direction of firing from an artillery installation (hereinafter AC) when changing the angle of elevation of the barrel caused by manufacturing errors associated with the non-parallelism of the axis of the axle of the guns of the control platform of the barrel and its non-perpendicularity to the axis of the barrel channel.

To eliminate the error of shooting associated with the specified lateral withdrawal of the direction of fire, an operation is used to measure the amount of withdrawal as the angle of elevation of the barrel changes. During firing, the amount of withdrawal is taken into account by introducing into the control system the guidance of the AU for the purpose of an amendment, which ensures an increase in the accuracy of firing from the AU.

The closest technical solution to the technical nature and the achieved effect of its use to the claimed solution is a known method for determining the lateral withdrawal of the direction of fire from the artillery mount 2C5 (see "PRODUCT 2C5. Technical description and instruction manual 2C5.TO2. Book 3. Parts 1 and 2. ”(Moscow, 1986, p. 876, p. 11.7.9.)), in which the AU barrel is first unstuck from the“ marching ”position and the stopper is placed on the AU case, then the gun barrel is horizontal in the longitudinal and transverse direction.

After that, a tripod with a PAB compass or theodolite, which is also horizontal, is installed in the direction of the axis of the barrel channel at a distance of 25 ... 40 m from the muzzle brake, a vertical thread is glued on the muzzle section of the trunk and the percussion mechanism is removed from the bolt socket. Then they make preparations for measuring the elements and blocks of the system (theodolite, panorama or direct aiming sight, rotary and lifting mechanisms), while coordinating the optical axis of the theodolite with the axis of the barrel channel.

The panorama is pointed at the aiming point (for example, at a collimator installed in front of the sight at a distance of 6 ... 10 m), after which they are marked with a panorama at the collimator and the resulting goniometer is recorded as the main one.

In order to measure the amount of withdrawal of the firing line when changing the elevation angle of the barrel, six preset aiming angles are introduced sequentially into the sight and at each elevation angle, sighting at the compass or theodolite, the vertical thread on the muzzle section with the device is combined with the gun’s rotation mechanism, and then a panorama is displayed at the same point of aiming and record the obtained goniometer.

The difference between the main goniometer and the goniometer at an elevation angle determines the correction for the withdrawal of the aiming line.

The above method, although it allows you to determine the correction for the withdrawal of the line of direction of fire, however, due to the fact that to determine the specified correction of measurement, it is necessary to carry out measurements with the theodolite, which is installed in front of the AC and sighted at the vertical line of the crosshairs at the muzzle of the barrel, and when changing the elevation you need to combine the line on the barrel with the theodolite's sight axis, then these values have to be converted into angular corrections for lateral withdrawal, corresponding to the angle of elevation of the trunk, then Measured measurements are very laborious and have low accuracy, especially for ACs firing at high elevation angles.

The task to be solved by the claimed invention is aimed at expanding the arsenal of available technical means related to a further increase in the efficiency of using systems for ensuring the accuracy of firing of artillery systems by increasing their degree of automation through the use of modern measurement technologies using computers, as well as expanding the scope of their use beyond due to the possibility of direct measurement of the lateral withdrawal of the direction of fire when pointing AU along the angle of elevation sheniya.

This problem is solved primarily due to the technical result of using the proposed invention, which consists in

firstly, a significant increase in the accuracy of measuring the deviation of the axis of the bore from the vertical plane with a change in the angle of elevation of the barrel;

secondly, in simplifying the operation of determining the lateral withdrawal of the direction of fire;

thirdly, in reducing the complexity of the operation of determining the lateral withdrawal of the direction of fire.

The specified technical result is achieved by the fact that in the known method for determining the lateral withdrawal of the direction of fire, in which

- first unstuck the barrel of the AU from the "marching" position,

- after that, set the barrel in a horizontal position and level the gun using the level on the control platform, and then prepare the elements and blocks of the system for measurements, then measure the magnitude of the withdrawal of the firing direction when changing the elevation angle of the barrel and judge the magnitude of the lateral withdrawal by the magnitude of the mismatch direction of fire, and when firing, an amendment for lateral withdrawal of the direction of fire is introduced into the control system of guiding the AU to the target,

firstly, the magnitude of the lateral deviation of the axis of the barrel from the vertical plane is determined by direct measurement when changing the angles of the vertical guidance of the gun using the following special device — the meter for angular displacement of the barrel (IPS);

secondly, according to the results of measuring the angular position of the barrel using this device, the values of the non-parallelism of the axis of the AU axles (guns) of the control platform on the breech AU Δ _ckp and the non-perpendicularity of the axis of the axles of the base axis of the bore channel Δ _{DAC are calculated} by the formula:

where Δ _CCL - the value of the non-parallelism of the axis of the axles AU control platform on the breech,

Δ _DAC - the value of the non-perpendicular axis of the pins of the base axis of the barrel

C _x , C _y - guide cosines of the axis of the pins;

thirdly, the calculated parameters for the non-parallelism of the axis of the AU axles (guns) of the control platform Δ of the _{axle plate} and the non-perpendicularity of the axis of the axles of the base axis Δ of the _center axis calculate the correction for lateral withdrawal of the direction of firing from the AU using the formula

where δψ (φ) is the correction for lateral withdrawal;

φ is the elevation angle of the barrel,

after which the specified specific amendment is introduced into the automated control system for guiding the AU to the target.

The inventive method for determining the lateral withdrawal of the direction of fire is implemented using the proposed by the authors of a special device - measuring the angular displacement of the barrel (IPS).

There are various devices for improving the accuracy of firing from different types of weapons. See, for example, RF patents for inventions: No. 2162587, 1999, 2213928, 2001, 2230280, 2003, 2234654, 2000, 2267076, 2004, 2367880, 2008, 2300072, 2005, 2418258, 2010, 2420703, 2010, RF patent for utility model No. 81306 and others, US patent No. 5205168, 1993, EPO patent No. 1291599, 2003, Germany patent No. 60017377, 2006, Belgian patent No. 809102, 1974, US patent No. 2001039874, 2001, and others.

These devices, although they can improve the accuracy of fire from firearms, however, they do not provide the ability to determine lateral withdrawal of the barrel when pointing the gun when changing the angle of elevation of the barrel, leading to a significant pointing error and lower accuracy, especially at high elevation angles.

The closest technical solution to the technical nature and the achieved effect of its use to the claimed solution is a known device for determining the lateral withdrawal of the direction of fire from the artillery mount 2C5 (see "PRODUCT 2C5. Technical description and operating instructions 2C5.TO2. Book 3. Parts 1 and 2. ”(Moscow, 1986, p. 876, p. 11.7.9.)), Containing:

- control level set on the control platform of the breech AU;

- a measuring instrument for removing the axis of the barrel channel from the vertical plane when changing the angle of elevation of the barrel, including theodolite, panorama or direct sight;

- a collimator mounted in front of a panorama or sight.

The above device, although it allows you to determine the correction for the withdrawal of the aiming line, however, to determine the specified correction, it is necessary to carry out measurements using the theodolite, which is installed in front of the gun and sighted at the crosshair from the threads on the muzzle of the barrel. These measurements are very laborious and have low accuracy, especially for gun mounts firing at high elevation angles.

The task to be solved by the claimed invention is aimed at expanding the arsenal of available technical means related to a further increase in the efficiency of using systems for ensuring the accuracy of firing of artillery systems by increasing their degree of automation through the use of modern measurement technologies using computers, as well as expanding the scope of their use beyond due to the possibility of direct measurement of the lateral withdrawal of the direction of fire when pointing AU along the angle of elevation sheniya.

This problem is solved primarily due to the technical result of using the proposed invention, which consists in

firstly, a significant increase in the accuracy of measurement of the drift of the axis of the bore from the vertical plane with a change in the angle of elevation of the barrel;

secondly, in simplifying the operation of determining the lateral withdrawal of the direction of fire;

thirdly, in reducing the complexity of the operation of determining the lateral withdrawal of the direction of fire.

The specified technical result is achieved by the fact that in the claimed device for determining the lateral withdrawal of the direction of fire, containing

- a meter for the removal of the axis of the barrel from a vertical plane when changing the angle of elevation of the barrel,

firstly, the meter for withdrawing the bore from the vertical plane is made in the form of a barrel angular displacement meter (hereinafter IPS), having a centering shank inserted into the muzzle of the barrel, and a measuring (basing) block inserted into the shank using the Morse taper and consisting of a base plate with a small-sized measuring module installed on it, including a three-axis gyroscopic angle sensor and a three-axis acceleration sensor, made, for example, using MEMS technology / in translation: Micro-Electro-Mechanical Systems emy / (hereinafter MEMS technology)

secondly, the base plate of the measuring unit is connected to the Morse cone through an adjustable ball bearing.

The proposed method and device for determining lateral withdrawal of the direction of fire depending on changes in the elevation angles of the barrel can significantly improve the accuracy of measuring the drift of the axis of the bore from the vertical plane when changing the elevation of the barrel, simplify the operation and reduce its complexity.

The proposed method and device is illustrated by drawings, in which:

- in FIG. 1 shows a graph of the change in lateral withdrawal of the axis of the barrel with a change in the elevation angle for one of the AC models and the corresponding parameters for lateral withdrawal of the direction of fire.

- in FIG. 2 shows a diagram of a barrel angular displacement meter (IPS);

- in FIG. 3 shows a view of the IMSS along arrow B (see FIG. 2);

- in FIG. 4 shows a photograph of one of the measuring modules of the Norwegian company Sensonor;

- in FIG. 5 shows the coordinate systems used in the algorithms for processing measurement results.

The proposed device for determining the lateral withdrawal of the direction of fire from an artillery installation contains:

a borehole axis axis drift meter when changing the borehole elevation angle, made in the form of a barrel angular displacement meter (IPS) module, with a centering shank 1, equipped with turning arms 2 and inserted into the barrel muzzle 3, and also a measuring unit (inserted into the shank 1 with the Morse cone 4 and fixed on it with the adjusting screws 5) containing the base plate 6 with a small-sized triaxial measuring module 7 mounted on it, including triaxial gyroscopes A mechanical angle sensor (not shown in the drawing) and a triaxial acceleration sensor (not shown in the drawing), made, for example, using MEMS technology.

As measuring module 7, it is advisable to use the STIM300 module of the Norwegian company Sensonor. In this case, the base plate 6 of the measuring unit is connected to the Morse cone 4 through an adjustable ball bearing 8, which allows you to adjust its angular position.

It should be noted that the device for determining the angular displacements of the barrel, made in the form of a meter for angular displacements of the barrel (IPS), can be used not only to measure the drift of the axis of the bore in the horizontal plane when changing the elevation angle of the barrel, but also for a number of other measurements of angular displacements barrel, for example, when monitoring the accuracy of guidance and state of the AU and the coordination of the control platform on the barrel with the axes of the AU.

IPS can be used when carrying out similar work on various control systems of a wide range of calibers.

Shank 1 is individual for each type of AU. The measuring unit is universal for different types of control units and can be equipped with any control unit.

The perpendicularity of the faces of the base plate 6 must be performed with high accuracy, and the measuring module 7 should be installed on the site so that its supporting surfaces representing the measuring coordinate system of gyroscopes and accelerometers are parallel to the faces of the parallelepiped of the base plate 6.

The proposed device operates as follows.

1. When determining the lateral withdrawal of the direction of fire from an artillery installation (horizontal axis guidance of the barrel with vertical guidance), horizontal and vertical guidance mechanisms using a quadrant (not shown in the drawing) expose the horizontal location of the control platform (not shown in the drawing).

In the muzzle of the barrel 3 insert the IPS module. By turning the centering shaft 1 around the axis of the barrel 3 through 90 ° and adjusting the position of the measuring unit relative to the shaft 1 in the perpendicular directions, the longitudinal measuring axis of the IMS module is aligned with the base axis of the barrel 3 and the gyro module 7 is reset to zero. The axis system of the IMS module coincides with fixed coordinate system (NSC), two axes of which are horizontal.

By changing the angle of elevation of the barrel by a lifting mechanism (not shown in the drawing) in a manual or automated mode up and down in the range from the minimum to the maximum angle, the angles of elevation, azimuth and roll are measured using the IPS measuring module. The magnitude of the azimuthal angle of the gyroscopic module determines the lateral angular withdrawal of the axis of the bore 3 horizontally. Using formulas (1) and (2), the parameters determining the lateral withdrawal of the barrel are calculated: the axle axis of the gun is not parallel to the control platform on the breech of the gun Δ _ckp and the axis axis is not perpendicular to the base axis of the barrel channel Δ _dac .

The results of measurements and calculations are entered in the AU passport and used later in the AU guidance system when aiming the AU during firing.

2. Algorithms for processing measurement results

2.1. General Provisions

The coordinate systems used in the algorithms are shown in FIG. 5.

For a fixed coordinate system (hereinafter referred to as the NSC), the right Cartesian coordinate system OXYZ associated with the Earth is adopted. The X and и axes are located in the horizontal plane, the Y axis of the system is vertical and up.

The coordinate system AU / guns / (hereinafter SCOR) is a coordinate system such that the axis OX ₀ coincides with the base axis of the barrel, the axis Ο Y _{0 is} vertical, and the axis ΟΖ _{0 is} perpendicular to it (in the ideal case, it coincides with the axis of the pins).

When positioned at the "zero" elevation angle, SCR coincides with the NSC.

The coordinate system O _b X _b Y _b Z _b (hereinafter referred to as Cb) is connected to the measuring unit, which is combined with SCor if the X _b axis is aligned with the base axis of the barrel and the Y _b axis is aligned with the Y _о axis.

We denote the unit vectors of the coordinate systems SKor and SKb and their projections (directing cosines) on the NSC axis as follows:

Rather for: X axis _{about - l (l x, l y} , l z); Y _o axis - v (v _x , v _y , v _z ); oc; Z _о - с (c _x , c _y , c _z );

; ось Y_б - $$v\text{'}(v_x^{\text{'}},v_y^{\text{'}},v_z^{\text{'}})$$

; ocь Z_б - $$c\text{'}(c_x^{\text{'}},c_y^{\text{'}},c_z^{\text{'}})$$

.for SKB: X axis _b - $$l^{\text{'}\text{'}}(l_x^{\text{'}\text{'}},l_y^{\text{'}\text{'}},l_z^{\text{'}\text{'}})$$

; Y axis _b - $$v\text{'}\text{'}(v_x^{\text{'}\text{'}},v_y^{\text{'}\text{'}},v_z^{\text{'}\text{'}})$$

; oc Z _b - $$c\text{'}\text{'}(c_x^{\text{'}\text{'}},c_y^{\text{'}\text{'}},c_z^{\text{'}\text{'}})$$

.

The matrix A of the spatial coordinate transformation in terms of Euler angles has the form:

where ψ, ν, γ are Euler angles (azimuth, elevation, and heel angles, respectively).

When the coordinate system is rotated around an arbitrary axis n (n _x , n _y , n _z ) by an angle φ _n, we can use the matrix:

By equating three linearly independent terms of the transposed matrix L _n and the corresponding elements of the matrix A, we can determine the direction cosines n _x , n _y , n _z of the rotation axis vector on the axis of the fixed coordinate system NSC (Χ, Υ, Z):

or, equating the corresponding sums of the terms of the matrices L _n and A

(l ₁₂ + l ₂₁ ) and (a ₁₂ + a ₂₁ ), (l ₁₃ + l ₃₁ ) and (a ₁₃ + a ₃₁ ), (l ₃₂ + l ₂₃ ) and (a ₃₂ + a ₂₃ ),

we get:

Each rotation angle corresponds to its own combination of Euler angles (ψ _i , ν _i , γ _i ) and, in the presence of a beating of the rotation axis, its own combination of guide cosines of the rotation axis (n _xi , n _yi , n _zi ). The average axis of rotation is while minimizing the functional:

,

,

where do we get:

2.2. The algorithm of the operation of combining the longitudinal axis of the IPS with the base axis of the barrel (X _b = X _o )

Before the operation, by turning the IMSS shank, the base plate 6 is horizontal in the transverse direction, after which zeros are set in the gyroscopic module (not shown in the drawing) of the IMSS measuring module 7.

Then carry out three turns of IPS around the axis of the barrel 3 by 90 ° according to the IPS (a total of 270 °).

When turning, the current guide cosines of the axis of the barrel are determined from the expressions:

The average value is calculated by the expression:

To combine the X axes, SKB and SCor rotate the vector of the IPSS longitudinal axis in the own coordinate system by an angle α in the vertical and an angle β in the horizontal planes with the help of an adjustable ball bearing 8 so that its projections on the SKB axis coincide with the average values of the guide cosines of the base the axis of the barrel according to the expression (9), where

,

.

,

.

After aligning the axes, it is necessary to level the support plate 6 of the IMSS along the roll by turning the centering shank 1 around its axis, along the elevation angle - by the vertical guidance mechanism of the AU (guns), and again reset the gyroscopic module of the measuring module 7 of the IMSS.

2.3. Algorithm for determining the angles of non-parallelism of the axis of the pins of the plane of the control platform and the non-perpendicularity of the axis of the pins of the base axis of the bore

To determine the true position of the axis axis vector, the swinging part of the implement around the axis of the axles is rotated in accordance with paragraph 1. The oscillating part is rotated over the entire range of elevation angles, taking angular readings of the gyroscopic module of the measuring module 7 of the IMSS (ψ, ν, γ) with a uniform step at 5 ... 6 points. In this case, the current guide cosines of the axis of the pins are determined from expressions (5) and (6) (the designations of the unit vectors of the axis of rotation of the swinging part are taken in accordance with paragraph 2.1. Of the general provisions of the algorithms for processing measurement results):

The average values are calculated by the expression (8)

From the projections of the axis axis vector on the axis of the barrel and the vertical axis according to formula (1) we obtain:

the value of the non-parallelism of the axis of the trunnions of the gun of the control platform on the breech of the AU (guns) Δ _ckp = arcSin (C _y );

the magnitude of the non-perpendicular axis of the pins of the base axis of the bore is determined by the formula: Δ _sp = arcSin (C _x ).

2.4. The algorithm for determining the correction for lateral withdrawal according to the parameters of the axis axis parallel axis of the control platform and the axis axis non-perpendicular to the bore channel axis

вокруг вектора оси цапф

на угол возвышения φ, получим:Using the rotation matrix (4) of the trunk axis vector

around the axis axis vector

at elevation angle φ, we obtain:

from here we have formula (2) for lateral withdrawal of the barrel when the elevation angle changes depending on the parameters of the lateral withdrawal Δ _cc and Δ _ccp :

.

.

Using the proposed group of inventions allows:

1. To ensure that work is carried out to control the lateral withdrawal of the base axis of the AU barrel when the elevation angle is changed.

2. Ensure control of the correct working out of the gun pointing angles during maintenance operations of the automatic control system.

3. Provide a direct measurement of the abduction through the use of a special device and a special algorithm of work.

4. To increase the accuracy of measurement, reduce the complexity and reduce the time of the operation of measuring the lateral withdrawal of the base axis of the barrel when pointing the AC along the elevation angle.

5. To increase the accuracy of the automated guidance of the gun in the process of firing by using the parameters of the lateral withdrawal, precisely defined by the claimed method.

6. Improve the convenience of the staff.

Claims (2)

1. A method for determining the lateral withdrawal of the firing direction from an artillery installation (hereinafter AC), according to which the AU barrel is unstuck from the “marching” position, then the barrel is set to a horizontal position and the AU is horizontal using the level on the control platform, and then produced preparing the elements and blocks of the system for measurements, after which the magnitude of the withdrawal of the direction of fire is measured when the angle of elevation of the barrel is changed and the magnitude of the mismatch is judged on the magnitude of the lateral withdrawal of the direction Ia firing, and firing when administered correction for lateral withdrawal direction of firing is introduced into the guidance control system AU on the target, characterized in that
- leveling the barrel and the axis of the trunnions of the guns is performed either by turning the tower, or the rotating part of the machine AU,
- the amount of lateral deviation of the axis of the barrel from the vertical plane is determined by direct measurement when changing the angles of the vertical guidance of the gun using a special device - a meter for angular displacement of the barrel (IPS);
- according to the results of measuring the angular position of the barrel using IPS, the values of the non-parallelism of the axis of the axles of the guns of the control platform on the breech AU and the non-perpendicularity of the axis of the axles of the base axis of the barrel bore Δ _{center are calculated} according to the formula:

,
where Δ _ckp - the value of the non-parallelism of the axis of the axles AU (guns) of the control platform on the breech;
Δ _DAC - the value of the non-perpendicular axis of the pins of the base axis of the barrel
C _x, C _y - guide cosines of the axis of the pins,
after that, according to the obtained parameters of non-parallelism of the axis of the axles of the AU control platform Δ _ccp and non-perpendicularity of the axis of the axles of the base axis Δ of the _ccp , the correction for lateral withdrawal of the direction of firing from the AC is determined by the formula:

,
where δψ (φ) is the correction for lateral withdrawal;
φ is the elevation angle of the barrel,
after which a certain amendment is introduced into the control system of pointing the AU at the target. 2. A device for determining lateral withdrawal of the direction of fire from an artillery mount made in the form of a barrel angular displacement meter (IPS) having a centering shank inserted into the muzzle of the barrel and a measuring unit inserted into the centering shank using a Morse taper and containing a base plate with a small-sized measuring module installed on it, including a three-axis gyroscopic angle sensor and a three-axis acceleration sensor, while the base plate of the measuring unit is connected to the cone th Morse through an adjustable ball joint.

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