RU2686482C1 - Method for two-stage ranging of aerial targets by degree of danger in radar information and control systems - Google Patents

Abstract

FIELD: radar ranging and radio navigation.SUBSTANCE: invention relates to radar ranging and radio control and can be used in modernizing existing and developing promising radar systems. Disclosed method for two-stage ranging of air targets by degree of danger in radar information control systems is that based on range measurements Dfrom protected object to target, approach speed Vwith it and transversal (portable) speed of target Vforming a sequence of target-specific hazard-classified numbers. Distinctive feature of the proposed method is formation of the sequence of the selected targets in two stages, the first of which is the formation of ordering by the criterion of the sequence of distances of maximum approach, and the second one is formation of maximum approach sorted by the criterion of the sequence of distances. Proposed method for two-stage ranging of aerial targets by degree of hazard, based on taking into account both spatial and temporal their connections to the protected object, enables to provide significantly higher reliability of making a decision on the hazard of certain targets.EFFECT: high reliability of ranging air targets when solving tasks of multi-purpose tracking and target distribution.1 cl, 5 dwg, 2 tbl

Description

The invention relates to radar and radio control and can be used to upgrade existing and develop advanced radar systems. Achievable technical result: improving the reliability of ranking air targets when solving problems of multi-purpose maintenance and target distribution.

The specific tasks of ranking air targets (EC) in order of importance belong to the class of object recognition tasks. As is known, recognition is a procedure for classifying an object under study, described by a set of observations, to one of the mutually exclusive classes. In the general case, when recognizing a CC, they are distinguished by importance from dangerous, attack-friendly, non-dangerous, and other types of this class of targets [1]. However, dangerous targets are generally considered the most important.

In modern aviation radio-electronic complexes (RECs), the ranking of ECs by importance is usually carried out according to airborne radar systems (BRLS), as well as electronic reconnaissance systems (SRTR) and optical-electronic systems (ECO) [2]. It should be noted that with the development of technical means and the improvement of methods of conducting electronic warfare when ranking CC, the role of SRTR and ECO steadily increases.

The need for ranking of ECs on the importance of fighters and multifunctional airplanes on board is due, in particular, to the fact that the number of guided missiles available in the general case is less than the number of targets simultaneously accompanied by radar in multipurpose tracking mode In this regard, there is the problem of determining the priority of the use of SD for the accompanying CC, the solution of which directly depends not only on the effectiveness of their defeat, but also on the aircraft’s own safety.

As a prototype of the invention, a method of ranking was chosen by the criterion of their own security on the basis of estimation of flight time t _{in the} remaining prior to the meeting for the purpose. In accordance with this criterion, the goal for which the minimum value of magnitude holds is the most dangerous [2]:

where D and _i is the measured value (or estimate) of the distance to the i-th target; _Vcli.ii - the measured value (or estimate) of the speed of approach with it. Calculations are performed for all N targets, which are ranked in ascending order t _bi and, accordingly, reducing their degree of danger.

The disadvantage proposed in the prototype method of ranking is the lack of consideration of the kinematic relationships of the target with the protected object, which leads to low reliability of the ranking results.

The technical result, which can be obtained from the use of the present invention, is the possibility of implementing a reliable automatic ranking (distribution) of objectives according to the degree of danger when solving tasks of multi-purpose maintenance and target distribution.

The claimed technical result is achieved by taking into account the kinematics of the relative movement of the EC and the aircraft, as well as the specifics of the radar in the MSC mode in the absence of external target designation.

The essence of the invention is to develop a new method of two-stage ranking of air targets for the degree of danger in radar information and control systems, which consists in the following.

When choosing the initial mathematical model of a programmable MSC, it was taken into account that the orientation of the corresponding axis of the antenna IC (and, v, respectively, directional radar radar antenna patterns) in this mode is carried out at discrete points of time in predetermined cycles in accordance with the selected logic of the programmable review. The movement of the aircraft (point O) and the i-th EC (point C _i ) in space is given by the vectors of absolute (earth) speeds V _c and V _ci , _respectively , and their mutual position by the range vector D _i (figure 1).

When using the hypothesis of the constancy of the relative velocity V _csi = V _ci -V _c = const, the indicators of slip d _{cbl i} and the time of approaching t _cbl i _are determined by the formulas:

- модуль векторного произведения V_цсi(t) и Д_i(t);Where

- module of the vector product V _CSI (t) and D _i (t);

; t - расчетный момент времени.

; t is the estimated time.

As follows from the formulas (2), (3), to determine the parameters d and t _{sbl.i sbl.i} must know _tsi vectors V, V _c and D _i. From a qualitative analysis of the formulas (2), (3) and figure 1 that parameters d and t _{sbl.i sbl.i} depend not only on the value (module) of the vectors, but also on their relative orientation in space (the angle β _i ), as well as from the time t is calculated.

и время достижения максимального сближения цели с самолетом принимает максимальное из возможных значений

и совпадает с (1).For _example , when β _i → 0, the indicator d _{= i} → 0 (see Fig. 1), while the danger level of the CC increases. When the angle β _i reaches the value β _i = 0, the exponent d = _i = 0, the modulus of the relative velocity vector

and the time to achieve the maximum convergence of the target with the aircraft takes the maximum of the possible values

and coincides with (1).

показатель d_сбл.i возрастает, показатель t_сбл.i уменьшается и соответственно уменьшается степень опасности ВЦ и наоборот. Из вышеизложенного следует, что оба показателя могут быть использованы при определении степени опасности ВЦ, однако показатель d_сбл.i(t) в силу большей физической наглядности целесообразно принять в качестве основного (более важного), а показатель t_сбл.i(t) - в качестве дополнительного (менее важного).Consequently, as the angle β _i increases with

the indicator _dbl.i increases, the indicator _tbbl.i decreases and, accordingly, the danger level of the _EC and accordingly decreases. It follows from the above that both indicators can be used in determining the degree of danger VTS, however _sbl.i component d (t) due to its greater physical clarity advisable to adopt as the main (more important) and component _sbl.i t (t) - as an additional (less important).

, выстраиваются в ряд в порядке убывания их важности [2]. При этом используется следующий критерий: альтернатива является наилучшей, если она лучше всех рассматриваемых альтернатив по наиболее важному показателю. Следующий по важности показатель привлекается для сравнения альтернатив лишь в случае равенства оценок альтернатив по показателю более высокого уровня.When ranking the EC by importance, the method of subjective folding of indicators was used [2], in which the indicators are ordered by importance, namely, indicators w _k ,

, line up in order of decreasing importance [2]. The following criterion is used: the alternative is the best if it is better than all the considered alternatives on the most important indicator. The next most important indicator is used to compare alternatives only in the case of equal estimates of alternatives in terms of a higher level.

Since the priority is to ensure your own personal safety of the airplane, then, in accordance with the above method of subjective coagulation parameters, VC ranking according to the degree of danger is performed using as a more important indicator of the effects of d _sbl.i and less important t _sbl.i by criteria

where t _nr - the beginning of the stage of ranking CC, used when calculating these indicators by the formulas (2), (3); K _i (t _Нр ) - coefficient of proportionality.

At the same time, formulas (2), (3) for calculating the indicators _dfl.i and _tfl.i according to the radar data in the programmable mode of the MSC take the form:

where the indices "and" correspond to the measured values at the time of the start of the ranking.

Figure 2 shows the normal Earth O ₀ X _g Y _g Z _g , normal mobile OX _g Y _g Z _g and antenna OX _a Y _a Z _a SC. The position of the i-th EC (point C _i ) and the aircraft (point O) in the normal earth SC is determined by the vectors D _{c i} (t) and D _c (t). The relative position of the target and the aircraft is characterized by the vector D _i (t), so that the vector relation is satisfied:

углы бортовых пеленгов цели в азимутальной ϕ_гi(t) и угломестной ϕ_вi(t) плоскостях, причем углы ϕ_гi(t) и ϕ_вi(t) характеризуют отклонение ЛВ i-й ВЦ в антенной СК относительно осей связанной СК OXYZ (рис. 3).Antenna SC OX _a Y _a Z _a is connected with a radar with the start in the airplane CM, rotating around the CM with respect to the normal SC OX _g Y _g Z _g with an angular velocity Ω _ai (t). In the antenna SC radar automatically measures for each VC range to the target D _i (t), the rate of change

the angles of the onboard bearing of the target in the azimuthal ϕ _гi (t) and elevation ϕ _bi (t) planes, and the angles ϕ _гi (t) and ϕ _bi (t) characterize the deviation of the LV of the i-th CC in the antenna SC relative to the axes of the connected SC OXYZ (Fig 3).

Furthermore, the angular velocity ω calculated _{plaster Gi} (t) = dφ _{plaster Gi} (t) / dt ω and _Bi (t) = dφ _Bi (t) / dt. For definiteness of coordinate transformations, the transition to the antenna coordinate system is carried out by successive turns at angles ϕ _bi and ϕ _gi counterclockwise.

Differentiating in time the left and right sides of the vector relation (9), we obtain [5]:

where V _ci (t) = dD _ci (t) / dt is the earth velocity vector of the i-th EC, i.e. the vector of the absolute velocity of the point C _i ; V _к (t) = dД _c (t) / dt is the ground speed vector of the aircraft, i.e. the vector of the absolute velocity of the point O; V _CSI (t) = dD _i (t) / dt is the vector of relative speed of the aircraft and the target, defined in the CS O ₀ X _g Y _g Z _g (absolute derivative of the vector D _i (t)).

вектора Д_i(t) имеет вид:According to the rule of differentiation of vectors in a rotating SC, the absolute (total) derivative

the vector D _i (t) has the form:

- вектор относительной скорости точки Ц_i (локальная производная); Ω_ai(t) - вектор угловой скорости вращения антенной СК при сопровождении i-й ВЦ относительно СК OX_gY_gZ_g.Where

- vector of the relative velocity of the point C _i (local derivative); Ω _ai (t) is the vector of the angular velocity of rotation of the antenna SC with accompaniment of the i-th computer center relative to the RC OX _g Y _g Z _g .

Substituting (11) into expression (10), we get:

According to (12), the observation (measurement) can be written in the form:

Express the vectors included in (13), through their projections on the axis of the antenna SC OX _a Y _a Z _a . As a result, we get:

where i, j, k are the orta SC of OX _a Y _a Z _a (Fig. 2, 3).

The projections of the vector product Ω _aii (t) × D _ui (t) on the axis of the antenna IC can be obtained by disclosing the determinant

Taking into account expressions (13), (14) and (15), the system of scalar ratios of measurements corresponding to the vector expression (13) is reduced to the form:

When determining the _EC motion parameters using the BRLS, the measured values Ω _{az and i} (t) and Ω _ay and _i (t) of the projections of the vector Ω _aii (t) are usually calculated on the basis of measurements of the angles ϕ _bei (t) and ϕ _video (t) , angular velocities ω _gi (t) and ω _video (t), as well as angular parameters characterizing the position of the connected SC relative to the normal CS OX _g Y _g Z _g .

Express the vector of the relative velocity V _tssi (t) = V _tsi (t) ^_ V _ki (t) through the projections on the axis of the antenna SC. As a result, taking into account expressions (16), we obtain:

The vector product V _tsii (t) × D _ui (t), included in the expression (7), under the hypothesis V _tssi (t) = const is reduced to the form:

с учетом (17) равенVector module

with (17) equal to

The expression for the distance of the closest approach of the target with the aircraft according to (2) and taking into account (18), (19) takes the form:

Where

The time to reach the closest approach according to (3) and taking into account (22), (23) is determined by the expression:

μ_i(t)→∞,

. В этом частном случае показатель t_сбл.i(t) совпадает с показателем (1).As follows from (23), when accompanied by the i-th EC in PPS and

μ _i (t) → ∞,

. In this particular case, the indicator t _{sbl. I} (t) coincides with the indicator (1).

Formulas (20) for the indicator _dbl.i (t) and (23) for the indicator _tbl.i (t), as well as (21) are generally valid for both the front (PPS) and the rear (CPS) hemispheres. The only difference of formula (23) for the RFP from the PPP is that in this formula for the PPP it is necessary to put the “-” sign, and for the RFP - the “+” sign (when removing the target).

окажутся примерно равными (см. (42)).Using formulas (20) and (23), we determine the coefficient K _i (t _нр ), included in the indicator (6) ƒ _{comp. I} (t _нр ). Indicator ƒ _{compl. I} (t _Нр ) is used in the second stage of ranking CC in the event that any two (or more) goals have indicators d _{compl. In} (t _Нp ) and

will be approximately equal (see (42)).

Imagine the indicator t _{sbl. I} (t _nr ) in the form

.Where

.

Substituting in (24) the value of the parameter

where V _{per .ii} (t _nr ) = D and _i (t _nr ) Ω _rii (t _nr ) is the transversal (portable) speed of the CC, we get

Where

From formula (26) it follows that

The greater the ratio V v _i.i (t _nr ) / V _{lane i} (t _nr ) of the VC radial velocity to the portable one, the smaller the angle β _i (see Fig. 1) and the more dangerous the target.

For two purposes with d _sbl.1 (t _nr ) = d _sbl.2 (t _nr ) = d _sbl. (t _nr ) inequality

according to (27) corresponds to the inequality

коэффициент имеет видwhich determines that the first goal is more dangerous than the second goal. Therefore, in accordance with (28), included in the criterion

coefficient is

From expressions (20), (21) and (23) it follows that in order to find the indices d _{stbl. I} (t) and t _{stbl. I} (t) it is necessary to calculate the values of the projections Ω _ayii (t) and Ω _azii (t) of the vector Ω _aii (t) of rotation of the antenna SC OX _a Y _a Z _a around the CM of the aircraft relative to the normal SC.

The angular velocity Ω _aii (t) is due to both the angular displacements of the i-th EC with respect to the coupled SC, which are characterized by angles ϕ _hyi (t), ϕ _vii (t) and the corresponding angular velocities ω _hy (t), ω _vii (t), and the rotation of the associated OXYZ SC relative to the normal OX _g Y _g Z _g SC, described by Euler angles: heel γ (t), pitch ϑ (t) and yaw (t).

As follows from fig. 3, the angular velocities ω _Yai (t), ω _Zai (t) are related to the angular velocities ω _gi (t), ω _bi (t) by the relations

Accordingly, the measured (calculated) values ω _Yai (t), ω _{Zai and} (t) according to (30) are determined by the expressions

связаны с проекциями угловой скорости вращения ЛА ω_x(t), ω_y(t), ω_z(t) и углами γ(t), ϑ(t), ψ(t) уравнениями [3]:Derivatives of Euler Angles

associated with the projections of the angular velocity of rotation LA ω _x (t), ω _y (t), ω _z (t) and angles γ (t), ϑ (t), (t) equations [3]:

where ω _x (t), ω _y (t), ω _z (t) are the projections of the absolute angular velocity of the aircraft on the axis of the associated CS.

The expressions for ω _x (t), ω _y (t) and ω _z (t) are reduced to

Thus, according to (33), the measured (calculated) values of the projections of the absolute angular velocity of the LA on the axis of the coupled SC are determined by the expressions

The measured (calculated) values of the projections of the absolute angular velocity of the aircraft in the antenna SC ω _axii (t), ω _ayii (t) and ω _azii (t) can be obtained by the formula

where Φ _hyi (t), F _vii (t) are matrices of coordinate transformations defined by the expressions

The components ω _{x and} (t), ω _{y and} (t), ω _{z and} (t) of the absolute angular velocity vector in (35) are calculated in accordance with (34).

According to formula (35), taking into account (34), (36), the measured (calculated) values of the projections of the absolute angular velocity vector of the aircraft on the axis of the antenna IC are determined by the relations

The resulting values of the projections Ω _ayii (t) and Ω _azii (t) of the absolute angular velocity Ω _aii (t) on the axis of the antenna IC OX _a Y _a Z _a according to (31) and (37) have the form

Substituting (38) into (22), we get:

It should be noted that if the reading of the angles of the onboard bearings ϕ _hyi (t) and ϕ _vii (t) in the radar is relative to the axes of the stabilized roll and pitch SC, then the expression (39) takes the form

As a result of the use of expression (40) in formulas (20), (23), the calculation of the indicators d c _{б i} (t) and t c _{б i} (t) is somewhat simplified.

по формуле (39) или (40) и подставив во все эти формулы вместо расчетного момента времени t момент t_нр начала этапа ранжирования ВЦ.As a calculated point in time t, when performing calculations using formulas (20), (23) taking into account (39) or (40) for all I _c goals, followed by the radar in the programmable _MSC mode, the time t is _{taken to} start the goal ranking stage. The most dangerous goal can be determined in accordance with criteria (4) and (5) as a result of performing a two-stage ranking of the CC according to the degree of danger. To do this, it is necessary to determine the indicators d _cbl.i (t) by the formula (20) and t _cbl.i (t _нр ) by the formula (23), having previously calculated the modulus of the vector of relative velocity V _csi (t _nr ) by the formula (19), the parameter μ _i (t _нр ) according to the formula (21) and the square of the resulting angular velocity

according to the formula (39) or (40) and substituting in all these formulas instead of the calculated moment of time t is the moment t _{nr of the} beginning of the ranking center of the CC.

The ranking is performed in the following sequence. All targets whose trajectories are taken to be accompanied are assigned numbers in the order in which they are taken to be followed. At the first stage, the ranking is carried out according to criterion (4) for all goals I _c ≤ I _cmax , where I _c is the number of CC, the trajectories of which are accompanied by a BRLS by the time I _{c max} - the maximum possible number of CC (trajectories) that can accompany the BRLS.

As a result of the ranking, the numbered targets are arranged in the CC line corresponding to the d _p (t _nr ) series (in order of increasing the d d _i (t _nr ))

and, accordingly, the reduction of the degree of danger of objectives by criterion (4).

The decision to determine the most dangerous goal is made on the basis of data obtained from the first row of ranked CCs. The most dangerous in this series is the goal, which corresponds to the minimum value of the indicator d _cbl.in (t _nr ), with an increase in the sequence number n of the element d _{cbl.in the} degree of danger of the goals decreases.

окажутся примерно равнымиIn the event that any two (or more) goals have indicators d _cbl.in and

will be about equal

оказались примерно равными, решение о наиболее опасной цели выносится по результатам сравнения показателей ƒ_cбл.in и

: наиболее опасной ВЦ из первого ряда показателей (41) считается та цель, у которой во втором ряду больше соответствующий показатель

.where D _d is the variance of the error in calculating the indicator d _cbl.i , then for further ranking at the second stage, the results of the calculation of the indicator ƒ _cbl.i (t _Нр ) and ranking of the CC according to criterion (5) are used, for which relation (42) is satisfied. The objectives ranked according to criterion (5) form the second row of the EC in order of decreasing the indicator _{б cbl.i} (t _Нр ) (in the particular case consisting of two goals). Based on the analysis of the second row for the purposes for which the indicators d _cbl.in and

turned out to be approximately equal, the decision on the most dangerous goal is made according to the results of the comparison of indicators ƒ _cbl.in and

: The most dangerous CC from the first row of indicators (41) is considered to be the goal that has a corresponding indicator in the second row

.

, но и ƒ_сбл.in и

также одновременно окажутся примерно равнымиThere may be situations in which two (or more) goals are not only indicators d _dbl.in and

but also ƒ _{glo. in} and

also at the same time will be approximately equal

where D _ƒ - calculating the error variance indicator ƒ _sbl.i. When the relation (43) is fulfilled, the ranking of such goals is carried out by the order number of the goals from the first row. The most dangerous is considered to be a CC with a lower sequence number min {i, j} (a smaller value of the first index in the indicator d _сбл. (T _нр )).

On the basis of the received series d _p (t _Нр ) (41) taking into account the indicators ƒ _{compl. I} (t _Нр ), if condition (42) is fulfilled and the target sequence number is fulfilled, condition (43) is used to form the final row of ranked goals:

It should be noted that for the implementation of the above-described procedures for ranking the CC, along with the calculation and ranking of the indicators _dbl.i (t _nr ) and ƒ _glb.i (t _nr ), the verification of relations (42) and (43) should be performed.

The proposed method of two-stage ranking of air targets according to the degree of danger, based on taking into account both their spatial and temporal connections with the protected object, allows for significantly higher reliability of the decision on the danger of certain targets.

Testing the performance of the proposed method was carried out according to the results of a simulation of the flight of an aircraft carrier radar and four air targets induced on it. The study was conducted under the following assumptions

- the aircraft carrier radar and air targets are in the same plane and moving with a constant speed modulo, and the aircraft carrier - and with a constant course;

- there are no external target designation;

- for targeting to a carrier, a direct targeting method is used;

- at the initial moment of time, the initial courses of the targets differ from the line of sight at an angle of no more than ± 60 °,

The spatial position of the targets and the carrier and the trajectory of their flight are shown in Figure 4. The initial velocities and courses of the aircraft carrier and targets are given in Table. one.

. Интервал ΔT был подобран таким образом, чтобы время t₅ примерно соответствовало половине усредненного времени догона воздушными целями самолета носителя. Результаты расчетов для параметра максимального сближения d_сбл.i приведены на фигуре 5, а, а на фигуре 5, б, - для параметра ƒ_сбл.i. Цифрами 1-4 на фигуре обозначены цели 1-4 соответственно.The values of parameters (2) and (6) were calculated at five points corresponding to different times of the beginning of the ranking.

. The interval ΔT was chosen in such a way that the time t ₅ approximately corresponded to half of the averaged time of the dog's aerial targets of the carrier aircraft. The results of calculations for the parameter of closest approach d _sbl.i are shown in figure 5, a , and in figure 5, b, for the parameter _stbl.i. Figures 1-4 in the figure denote goals 1-4, respectively.

As can be seen from figure 5, the order of ranking for the first two times of the beginning of the ranking t _np1 and t _np2 is determined only by the value of the parameter d _{set i} . Starting from the third time t _NP3 , condition (42) is fulfilled and criterion (6) with respect to the parameter ƒ _coinc . I becomes decisive. The final ranking of the targets and the sequence of the convergence of the targets with the carrier aircraft are shown in Table 2.

As can be seen from table 2, the ranking results correspond quite accurately to the simulated situations.

A study conducted in a wide field of application conditions showed that the proposed method of two-stage ranking of air targets according to the degree of danger, based on taking into account both their spatial and temporal relationships with the protected object, provides a fairly high accuracy of the decision about the danger of certain targets. At the same time, for the implementation of this method, typical gauges are sufficient, which allows it to be implemented in existing and prospective on-board computing systems.

, бортовые пеленги цели в азимутальной ϕ_гиi и угломестной ϕ_виi плоскостях, а также угловые скорости ω_гиi и ω_виi Кроме того, должны измеряться углы крена γ_и, тангажа ϑ_и, рысканья ψ_и, а также соответствующие производные

. При этом параметры Д_иi,

, ϕ_гиi, ϕ_виi, ω_гиi, ω_виi непосредственно измеряются БРЛС, а параметры γ_и, ϑ_и, ψ_и,

,

,

-штатной инерциальной навигационной системой ЛА.To implement a two-stage ranking of the CC by the degree of danger, it is necessary for each target to measure the distance to the target D and _i , the speed of its change

, side bearing of the target in azimuthal ϕ _hyi and elevation ϕ _vii planes, as well as angular velocities ω _hyi and ω _vii In addition, roll _heights γ _and pitch ϑ _and yaw ψ _and corresponding derivatives should be measured

. In this case, the parameters D and _i ,

, ϕ _hyi , ϕ _vii , ω _hyi , ω _{vii are} directly measured by the radar, and the parameters γ _and , ϑ _and , ψ _and ,

,

,

- standard inertial navigation system of the aircraft.

List of sources used

1. Kanashchenkov A.I., Merkulov V.I., Samarin O.F. The look of promising airborne radar. Opportunities and limitations. - M .: IPRZHR, 2002. - 176 p.

2. Yarlykov M.S., Bogachev A.S., Merkulov V.I., Drogalin V.V. Electronic systems for navigation, aiming and controlling the armament of aircraft. T. 2. The use of aviation radio-electronic complexes in solving combat and navigation tasks. / Ed. M.S. Labels. - M .: Radio engineering, 2012. - 256 p.

3. Nelyubov A.I., Novod A.A. The dynamics of the flight of combat aircraft. Ed. A.I. Nelyubova. - M .: Publication VVIA them. prof. NOT. Zhukovsky, 1992.

Claims (22)

The method of two-stage ranking of air targets according to the degree of danger in radar information control systems, which consists in the fact that, based on measurements of the distance D and _i from the object to be protected to the target, the speed of approaching V is _consistent with it and the transversal (portable) speed of the target V _lane a sequence of target numbers is formed according to the degree of danger

characterized in that the formation of a sequence of ranked goals is carried out in two stages, the first of which is the formation of an ordered by criterion

sequences

closest approach distances

and the second - the formation of sorted by criterion

sequences

closest approach distances

Where

V _{per .ii} (t _nr ) = D and _i (t _nr ) Ω _rii (t _nr ), a Ω _rii is the total (spatial) angular velocity, V _csi.j is the relative velocity of the target from the carrier aircraft; t _nr - the start time of the ranking, I _c - the number of accompanied targets, while the most dangerous in this series is the goal, which corresponds to the minimum value of the indicator d _{conf. in} (t _ho ), with an increase in the sequence number n of the element d _conf. goals decreases; if any two (or more) targets have indicators d _blin and

will be about equal

where D _d is the variance of the error in calculating the index _dbl.i , then for further ranking in the second stage, the results of calculating the indicator _ƒblc.i (t _nr ) and ranking the CC by the corresponding criterion _{ƒ are used} , and if two numbers) goals are not only indicators d _dash.in and

but also ƒ _{glo. in} and

also at the same time will be approximately equal

where D _ƒ is the variance of the calculation error of the indicator ƒ _stbl.i , then the ranking of such goals is carried out by the order number of the targets from the first row and the most dangerous is considered to be a CC with a smaller sequence number min {i, j} - a smaller value of the first index in the indicator d _block. (t _nr ); the resulting sequence of targets, ranked by degree of danger, is transmitted to the consumer.

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