RU2784492C1 - Method for payload delivery to air object - Google Patents

Abstract

FIELD: defense technology.

SUBSTANCE: invention relates to defense technology and can be used to improve the efficiency of delivery of UAV payload elements to an air object (AO). A typical linear size of the object is obtained from the UAV carrier board. The current predicted values of the UAV miss relative to the object, the angle of the object, as well as the current predicted delay time for the release of the payload are determined using an information sensor in the passive section of the UAV flight. At the moment of blinding the UAV information sensor, the values of the UAV relative approach velocity to the object, the angular position of the object relative to the UAV, the angle of the object, the UAV miss relative to the object are recorded. Based on the fixed values of the relative speed of approach of the UAV to the object, the angular position of the object relative to the UAV, the angle of the object, the UAV's miss relative to the object, the value of the delay time for the release of the payload is determined. Upon expiration of the delay time, the payload elements are ejected in the direction of the AO.

EFFECT: efficiency of the use of UAVs during the delivery of payload elements to the AO is increased due to the additional determination of the AO angle.

1 cl, 3 dwg

Description

The invention relates to defense technology and can be used to improve the efficiency of delivery of payload elements of an unmanned aerial vehicle (UAV) to an air object (UA).

A known method of controlling the characteristics of the field of destruction of a high-explosive fragmentation warhead of a rocket, including radiation by two non-contact target sensors operating in different ranges of the electromagnetic spectrum, fixing the target and determining the side of its flight at large misses, fixing the target and determining the side of its flight at small misses, the formation of time delays for undermining the missile warhead, determining the position of the target relative to the axis of the missile based on a comparison of the polarity of signals from the azimuth and elevation sensors of the missile homing head, comparing the position of the target, determined, on the one hand, by the missile homing head, and on the other hand, by the radar target sensor and an optical sensor of the target and if the target positions coincide, establishing the fact of the absence of interference, determining the values of the angular velocity and acceleration of the target's movements based on the comparison of the angular coordinates of the target with the given values, determining the dynamics of the target's angular movement based on the analysis values of the angular velocity and acceleration of the target movement, determination of the predicted angular position of the target based on the dynamics of its angular displacement and the formation of the missile warhead engagement field in the direction of the target's flight, taking into account its predicted angular displacement [1].

The disadvantage of this method is the low efficiency of the missile's combat use when hitting air targets, due to the insufficient use of information about the conditions of the missile's meeting in order to match the fuse triggering surface with the zone of dangerous ruptures of the missile warhead.

Closest to the claimed (prototype) is a method of controlling the characteristics of the field of destruction of a high-explosive fragmentation warhead of a rocket, including radiation by two non-contact target sensors operating in different ranges of the electromagnetic spectrum, fixing the target and determining the side of its passage at large misses, fixing the target and determining the side of it flying at small misses, determining the position of the target relative to the axis of the missile based on a comparison of the polarity of signals from the azimuth and elevation sensors of the missile homing head, comparing the position of the target, determined, on the one hand, by the missile homing head, and on the other hand, by the radar target sensor and optical target sensor, and if the target positions coincide, establishing the fact of the absence of interference and determining the value of the angular velocity and acceleration of the target’s movements based on the comparison of the angular coordinates of the target with the given values, determining the dynamics of the target’s angular movement based on the values of the angular velocity target and acceleration of the target movement, determination of the predicted angular position of the target based on the dynamics of its angular displacement and the formation of the missile warhead engagement field in the direction of the target’s flight, taking into account its predicted angular displacement, while additionally determining the conditions for the missile’s approach to the target and the target class, with taking into account the data obtained and the design features of the fuse and the missile warhead, the delay time for undermining the missile warhead is specified, while the miss of the missile relative to the target and the speed of approach of the missile to the target are determined as parameters of the conditions for the approach of the missile to the target, the target class is determined based on the analysis of the width antenna pattern [2]

The disadvantage of this method is the lack of effectiveness of the use of UAVs in case of damage to the VO due to the insufficient use of information about the conditions for the meeting of the UAV with the VO (determining the angle of the VO).

The technical objective of the invention is to increase the efficiency of the use of UAVs in the delivery of payload elements to VO.

The solution of the technical problem is achieved by the fact that in the method of delivering the payload to the AO, including the radiation of the signal by the information sensor in the direction of the object, the reception of the signal reflected from the object, the determination of the speed of approach of the UAV to the object, the determination of the predicted angular position of the object relative to the longitudinal axis of the UAV, the formation of the field of elements payload in the direction of the passage of the object, taking into account its predicted angular position, clarification of the delay time for ejection of the payload, taking into account the data obtained and the design features of the information sensor and the payload of the unmanned aerial vehicle according to the invention, a typical linear size of the object is obtained from the UAV carrier, determined from using an information sensor on the passive section of the UAV flight, the current predicted values of the UAV miss relative to the object, the angle of the object, as well as the current predicted delay time for ejection of the payload, at the moment of glare of the UAV information sensor fixes the values of the relative speed of approach of the UAV to the object, the angular position of the object relative to the UAV, the angle of the object, the miss of the UAV relative to the object, is determined by fixed values of the relative speed of the approach of the UAV to the object, the angular position of the object relative to the UAV, the angle of the object, the miss of the UAV relative to the object, the delay time for ejection of the payload, after the delay time elapses, the ejection of payload elements in the direction of the AO is carried out.

New essential features of the invention are:

- receive from the side of the UAV carrier a typical linear size of the VO, which is necessary for accurately determining the delay time of the UAV payload operation;

- using an information sensor to determine the current predicted values of the UAV miss relative to the object, the angle of the object, as well as the current predicted delay time for the release of the payload, using the information sensor in the passive section of the UAV flight;

- at the moment of blinding the information sensor of the UAV, the values of the values of the relative speed of approach of the UAV to the object, the angular position of the object relative to the UAV, the angle of the object, the miss of the UAV relative to the VO are recorded;

- determine by fixed values of the relative speed of approach of the UAV with the AO, the angular position of the AO relative to the UAV, the angle of the AO, the miss of the UAV relative to the AO, the technical characteristics of the information sensor and the payload of the UAV, the delay time of the UAV payload;

- upon expiration of the delay time, the payload elements are ejected in the direction of the AO.

A new set of essential features provides a solution to the set technical problem with the achievement of the claimed technical result, namely, increasing the efficiency of the use of UAVs when delivering payload elements to the AO due to the additional definition of the AO angle.

The use of a single set of essential distinguishing features in the known technical solutions was not found, which characterizes the compliance of the considered technical solution with the criterion of "novelty".

The above set of new essential features in combination with common known provides a solution to the problem with the achievement of the required technical result and characterizes the proposed technical solution significant differences compared to the prior art.

The invention is illustrated by drawings:

Figure 1 shows a diagram of the relative position of the UAV and IN at the time t ₀ blinding radar.

Figure 2 shows a diagram for determining the angle of IN in the horizontal plane when starting the UAV in the rear hemisphere.

Figure 3 shows a diagram for determining the angle of the VO in the horizontal plane when starting the UAV in the forward hemisphere.

The inventive method is the result of research and experimental work to improve the efficiency of the use of UAVs when delivering payload elements to VO.

The inventive method is implemented as follows.

Let a navigation system be placed on board the UAV; rocket position meters relative to the center of mass; an onboard radar station that implements an active type of radar with a passive response; onboard digital computer (BTsVM). The UAV in the process of homing approaches the AO according to the method of proportional navigation. In the onboard computer of the UAV, estimates of the phase coordinates necessary for the implementation of its homing are formed. The diagram of the relative position of the UAV and VO at the time t ₀ blinding the radar is shown in Fig.1.

Let at the time t ₀ the UAV and the AO move with speeds V _p and V _C , respectively, the mutual approach velocity V, the distance to the AO D _C .

где β, ε - соответственно азимут и угол места ВО; ω - угловая скорость линии визирования; D_Ц,V - соответственно дальность и скорость сближения с ВО; γ, ψ, ψ, θ - углы соответственно крена, рыскания и тангажа. БПЛА стабилизирован по крену.The onboard radar station as part of the IIS UAV implements measurements of the phase coordinate vector of the relative position of the AO up to the moment t ₀ according to the option

where β, ε are the azimuth and elevation angle of the AO, respectively; ω - angular velocity of the line of sight; D _C ,V - respectively, the range and speed of approach to the VO; γ, ψ, ψ, θ are roll, yaw and pitch angles respectively. The UAV is stabilized in roll.

Due to the fact that the definition of a miss is performed in the interests of the payload, which, as a rule, is structurally oriented along the longitudinal axis of the UAV, the picture plane VOP ₀ (see figure 1) is taken perpendicular to the axis OX, their intersection is indicated by P. In the plane P ₀ a circle is formed with the center at the point C - the intersection of the picture plane with the line of sight of the radar target. The radius of the circle is taken equal to the maximum allowable miss of the UAV past the guidance object (not marked in figure 1). The circle is divided into identical sectors 1-8, the number of which is satisfactory for determining the radial direction on the VO. On board the UAV, it is required to determine the radial direction to the AO, the amount of miss at the current time, the magnitude of the AO angle at the current time. In [2], a method for determining the radial direction on the AO is proposed, the essence of which is to calculate the probabilities of finding the miss point P at the current time in each of the sectors of the object picture plane. These probabilities are calculated based on measurements of the UAV phase coordinates vector, as well as the relative position of the AO and the UAV. The algorithm for calculating the probabilities of finding the miss point Р in each of the sectors of the picture plane of the object corresponding to the proposed method has the form:

- соответственно апостериорная и прогнозируемая вероятности нахождения точки промаха в

секторе в k-й момент времени;where

are, respectively, the a posteriori and predicted probabilities of finding the miss point in

sector at the k-th moment of time;

- коэффициент прогнозирования изменения положения точки промаха при наличии дополнительной информации о последовательности смены секторов;

- coefficient for predicting the change in the position of the miss point in the presence of additional information about the sequence of changing sectors;

- оценка измеренного значения

фазовой координаты относительного положения БПЛА и ВО в текущий момент времени;

- evaluation of the measured value

phase coordinate of the relative position of the UAV and AO at the current time;

- математическое ожидание («центр тяжести»)

сектора по

фазовой координате;

- mathematical expectation ("center of gravity")

sectors for

phase coordinate;

- оценка дисперсии измерений

фазовой координаты.

- estimation of dispersion of measurements

phase coordinate.

The number of the sector where the miss point P is located at the current moment of time is determined by the criterion of the maximum a posteriori probability

In [3], a variant of detailing the VO picture plane is given when implementing the developed method for determining the radial direction to an object, the relationships of the phase coordinates used in the algorithm for calculating the probabilities of finding a miss point in each of the sectors of the object picture plane are determined.

By means of simulation modeling, as a result of the performed studies, the suitability of the developed algorithm (1) - (5) for the operational determination of the direction to the AO in the interests of the UAV payload is shown.

When determining the magnitude of the slip as the basis for the procedure for determining the magnitude of the slip - segment CR in figure 1, we will accept the method described in [4]:

- величина промаха;

where

- the magnitude of the miss;

Current, i.e. the miss determined at the current moment of time is a random variable, since it depends on random disturbances acting on the UAV and its control system during the flight to the AO. Considering that the UAV is stabilized in roll and the dispersion in the AO sky plane can be considered circular, it is enough to estimate the current miss for one channel. Determination of the miss value in the onboard digital computer of the UAV can be considered on the example of one plane - the azimuthal one. The results obtained are easily generalized to the spatial case by vector addition with the results for the elevation plane.

In the on-board computer of modern UAVs guided by the method of proportional navigation, estimates of the phase coordinates included in formula (6) are formed at the outputs of the corresponding filters synthesized for the expected average application conditions. These estimates can in principle be used to determine the magnitude of the miss according to formula (6).

The discrepancy between the state and measurement models and the real conditions that develop when the UAV approaches the AO leads to a decrease in the accuracy of estimating the phase coordinates and, accordingly, to a decrease in the accuracy of determining the magnitude of the miss. When determining the miss value on board the UAV in the interests of the payload, it is necessary to take into account a number of features when approaching the UAV and the AO at short ranges. Approximate analytical formulas were obtained in [4, 5] and the accuracy of UAV proportional guidance in various tactical situations was studied in detail. It is shown that the homing accuracy strongly depends on the conditions of use, maneuvering characteristics of objects and interference. In [6, 7], methods have been developed for an approximate analysis of the dynamic and fluctuation components of a UAV miss with a radar homing head. The formulas for the dynamic _rf and fluctuation _rf components of the miss at the end of homing, respectively, have the form

- дисперсия промаха рr_Ф;

- ускорение ВО; K_ивc, K_cр, K₁, K_v, K_ω - соответственно коэффициенты передачи информационно-вычислительной системы БПЛА, системы «система управления БПЛА -БПЛА», системы формирования сигнала рассогласования в соответствии с методом наведения, измерителя скорости сближения, угломера при оценивании угловой скорости линии визирования; G_ω - спектральная плотность шума оценки угловой скорости линии визирования; ΔF_эф - эффективная полоса пропускания системы самонаведения по угловому шуму; N₀ - навигационный параметр метода наведения. Формулы (7) и (8) демонстрируют весьма сложную зависимость характеристик промаха БПЛА как от параметров системы самонаведения, так и от условий применения. В случае, если БЦВМ БПЛА обладает достаточным ресурсом, то может быть реализован один из возможных вариантов повышения точности определения величины промаха.where

- miss variance r _F ;

- VO acceleration; K _{and cf} , K _cf , K ₁ , K _v , K _ω - respectively, the transmission coefficients of the UAV information-computing system, the UAV-UAV control system, the error signal generation system in accordance with the guidance method, the approach speed meter, the goniometer when evaluating angular velocity of the line of sight; G _ω - spectral noise density of the estimation of the angular velocity of the line of sight; ΔF _eff - effective bandwidth of the homing system for angular noise; N ₀ - navigation parameter of the guidance method. Formulas (7) and (8) demonstrate a very complex dependence of the UAV miss characteristics both on the parameters of the homing system and on the conditions of use. If the onboard computer of the UAV has a sufficient resource, then one of the possible options for improving the accuracy of determining the magnitude of the miss can be implemented.

A feature of the operation of the UAV radar is its “blinding” when approaching the AO at a certain, relatively short range D _k and the inability to perform its intended functions in the process of further approach. The main reason for the “blinding” of a radar with a monopulse goniometer is the so-called angular noise [8]. At small distances, when the angular dimensions of the AO are commensurate with the width of the radar antenna radiation pattern, the angular noise can lead to direction finding errors and rather large errors in estimating the angular velocity of the line of sight. Also, the refraction of waves in the radome of the radar antenna leads to significant errors in estimating the angular velocity of the line of sight as the distance to the AO decreases. When the angular velocity of the antenna changes relative to the longitudinal axis of the UAV, the so-called speed error of the fairing occurs, which increases as the angular velocity of the antenna increases.

In [7], filtering algorithms are given to obtain estimates of the phase coordinates of the relative position of the UAV and AO used in the implementation of the homing method. The features of obtaining estimates are indicated, including those phase coordinates that can be used in the UAV on-board computer to determine the magnitude of the miss using formula (6). In [7], it is proposed to obtain estimates of the distance and speed of approach to the AO by filtering the output signals of a multi-loop range meter and its derivatives with independent estimation of the approach speed using the algorithms of the stochastic optimal control theory (STOU) [9, 10]. The estimation of the angular velocity of the line of sight of the AO is proposed to be formed according to the STOU algorithms based on the output signals of the quasi-optimal goniometer of intensively maneuvering objects. The accuracy of estimates of the range, closing speed, and angular velocity of the AO sighting line to a large extent depends on the conformity of the models of the state of the actual tactical situation.

Taking into account the peculiarities of the functioning of the UAV radar at short ranges as it approaches the AO, as well as the inevitable methodological errors in estimating the phase coordinates used in formula (6), we can conclude that a point estimate of the miss value is inappropriate, i.e. estimates of the current miss in the interests of the payload at the final moment of UAV homing. An alternative can be an integral estimate of the miss value, determined in the UAV onboard computer based on the available estimates of the phase coordinates used in the implementation of the homing method. The proposed procedure for the integral estimation of the miss value consists of three stages and is as follows. At the first stage, the tactical situation is recognized, i.e. identification of state models to improve the accuracy of phase coordinate estimates used in formula (6). At the second stage, a sample is formed from the values of the current misses according to formula (6). At the third stage, based on the sample, estimates of the mathematical expectation and variance of the UAV miss value are formed, including taking into account the predicted estimates of phase coordinates. Approximate averaged values of ranges to VO O _ce and duration t _e of the indicated stages, for UAVs with active radar, are in the range: Stage 1 - D _ce1 = 3000-1500 m, f _e1 = 4.5-2s; Stage 2 - D _CE2 = 1500-500 m, f _e2 = 2-0.7s; Stage 3 - D _ce3 = 500-0 m, f _e3 = 0.7 s. It is obvious that the duration of the stages will depend on the assigned ranges _Dce and the speed of approach of the UAV with the AO, i.e. on the own speeds of the UAV and AO, as well as the angle of the AO. The assigned ranges D _ce, in turn, will depend on the type of VO. At the third stage, which may be the stage after the “blinding” of the radar and which it is advisable to “assign” when a certain range is reached depending on the type of AO, or to determine, for example, by a predetermined threshold value when the signal value changes in the total channel of the radar, the formation of an estimate the miss is carried out according to the results of the prediction of the phase coordinates.

Recognition of a tactical situation at the first stage of the procedure for determining the magnitude of a miss on board the UAV is expedient, both from the point of view of improving the accuracy of estimating phase coordinates by correcting the state and observation models, and in substantiating the values of D _CE2 and D _CE3 . Under the tactical situation, in the simplest case, a specific combination of the type of AO and the maneuver performed by it (transverse overload of the AO) is considered.

Each situation is associated with predetermined state and observation models with given state and observation noise intensities, as well as the values of D _CE2 and D _CE3 . The tactical situation recognition algorithm based on the Bayesian approach by analogy with (1)-(5) for this case will have the following form:

- соответственно сигнал и оценка его дисперсии на выходе i-го измерителя;

- количество измерителей, задействованных в распознавании s-й ситуации;

- длительность серии, которая может ограничиваться из-за действия организованных помех.where

- respectively, the signal and the estimate of its dispersion at the output of the i-th meter;

- the number of meters involved in the recognition of the s-th situation;

- the duration of the series, which may be limited due to the action of organized interference.

Algorithm (9)-(13) has a high speed. Thus, the situation recognition time, similarly to [3], is hundredths of a second.

When forming a sample from the values of the current misses in formula (6), estimates of the corresponding phase coordinates are used. At the same time, in the state and measurement models for the filtering algorithms co, D _C , V, depending on the current value of s, predetermined values of spectral noise densities are used. It is expected that this procedure, due to the high speed of recognizing a tactical situation, will improve the accuracy of estimating precisely these phase coordinates without affecting the main filtering algorithms for all phase coordinates connected by numerous cross-links used in missile control.

It is advisable to form a sample of miss values as a simple random sample so that by the time the UAV payload is applied, the statistical error in estimating the miss does not exceed 5% with a confidence probability of 0.95. This is achieved by assigning a range D _CE2 of the beginning of the second stage and assigning such a data acquisition interval that provides more than 400 unit sample size. At the third stage, when D _CE3 is reached in the filtering algorithms ω, D _C , V, the measured values of the phase coordinates are replaced by the predicted values according to the rules described in [6], with the continuation of the sampling. Estimates of the mathematical expectation and standard deviation of the miss are formed as sample values are obtained according to well-known rules.

To correctly determine the value of the UAV payload response time, it is necessary to know the value of the AO angle. Therefore, it is necessary to have an algorithm for determining the AO angle, implemented in the UAV IIS with a radar homing head (RGS) based on information only from the meters available in the measuring system (IS) and the database available in the IS (i.e. without involving any additional information from outside). Consider a possible algorithm for determining the angle when the UAV approaches the AO in the rear and front hemispheres.

1. Rear hemisphere.

Initial data and assumptions:

1. The UAV is aimed at the VO using the proportional guidance method (MPN);

2. A quasi-continuous signal is used as an object illumination signal (SIC). UAV IS radio technical meters allow measuring: ϕ - onboard bearing of an object (the angle between the longitudinal axis of the UAV and the equisignal direction of the tracking direction finder); ω - angular velocity of the line of sight; D - range to VO; V _about - the speed of approach of the UAV with VO.

3. Of the non-radio technical meters, the procedure uses accelerometers both in the UAV control planes and along the UAV longitudinal axis, which measure: j _1.2 - UAV lateral acceleration in the corresponding planes; j _pr - longitudinal acceleration of the UAV.

4. The algorithm uses measurement estimates for items 2 and 3, formed in the UAV IS. The estimation technique and filters are described in [1] for the formation of control parameters.

5. The algorithm uses the own speed of the UAV. It can be assumed that the features of that part of the atmosphere in which the UAV approaches the target are the same for UAVs and VOs. There are two options for estimating the AO's own velocity. The first - according to information from the UAV manufacturer. The following characteristics should be entered in the UAV IS database: accelerating, high-speed, taking into account launch conditions, flight altitude, trajectory inclination angles. The second - according to information at the time of launch from the aircraft information-computing system and data j _pr - longitudinal acceleration of the UAV.

Scheme of rendezvous of the UAV (P) with VO Shch) in the horizontal plane when launched into the rear hemisphere (conditionally "catch-up") is shown in Fig.2.

Fig. 2 corresponds to the case when the transients after the launch of the UAV are completed, the AO flies rectilinearly and uniformly (the validity of this assumption will be further justified on the basis of the features of the solution of the main problem (determining the angle) and the features of the developed procedure), the UAV is guided along the MPN and its trajectory is almost rectilinear [ one]. In Fig.2 marked: P ₁ C ₁ - the position of the UAV and IN at an arbitrary (first) point in time; R ₂ , C ₂ - the position of the UAV and VO at an arbitrary (second) point in time; C _k - point of "meeting"; D ₁ , D ₂ - distances to VO at the first and second moments of time, respectively; ϕ - airborne bearing of the AO (assumed unchanged in accordance with the subsequent justification); q is the angle between the UAV velocity vector and the AO velocity vector, which practically coincides with the angle between the UAV longitudinal axis and the AO longitudinal axis; Q - heading angle of sight of the AO (its sine is the angle of the object in the UAV coordinator).

Algorithm for determining the angle q

1. At an arbitrary point in time, for example, the first one, using the available values of Di and Van, we determine the time until the “meeting” t _k1

2. Based on the speed V _p , it is for this (it is conditionally called the first) moment of time and t _k1 that we determine the length of the segment R ₁ C

, в котором известны две стороны

и угол между ними ϕ. По теореме косинусов находим длину отрезка

3. Solve an arbitrary triangle

, in which two sides are known

and the angle between them ϕ. By the law of cosines we find the length of the segment

. Ракурс объекта будетFurther, by the sine theorem, we find the sines (and, accordingly, the angles themselves) of the angle q and the angle

. The view of the object will be

The solution of the triangle makes it possible to additionally evaluate on board the UAV:

4. VO speed module

5. VO view in the UAV coordinator

2. Front hemisphere

Scheme of rendezvous with the UAV in the horizontal plane when starting in the front hemisphere (conditionally "interception") is shown in figure 3 (the designations are the same as in figure 2).

Further, all formulas of the algorithm "work" similarly to the case of the rear hemisphere. The AO view in relation to the UAV velocity vector (or its longitudinal axis) is also calculated by formula (17) as before. This follows from the formula for the sine of the difference of two angles, because

Similarly to the case with a miss, we form a sample of the values of the VO angles as a simple random sample so that by the time the UAV payload is applied, the statistical error in the estimation of the angle does not exceed 5% with a confidence probability of 0.95. Estimates of the mathematical expectation and standard deviation of the angle are also formed as the sample values are obtained.

The value of the delay time that provides the optimal position of the UAV payload actuation point for the conditions of approach of the UAV with the AO (pr, V _r ) is determined in accordance with the expression:

- величина промаха БПЛА относительно ВО,

- среднее направление разлета элементов полезной нагрузки в динамике, ф₀ - угол наклона диаграммы направленности радиолокационной ГСН БПЛА, V₀ - начальная скорость разлета элементов,

- относительная скорость сближения БПЛА с ВО, L - продольный размер ВО.where

- UAV miss value relative to VO,

- the average direction of expansion of the elements of the payload in dynamics, f ₀ - the angle of inclination of the radiation pattern of the UAV radar seeker, V ₀ - the initial speed of expansion of the elements,

- the relative speed of approach of the UAV with the AO, L - the longitudinal size of the AO.

The average direction of expansion of elements in dynamics is determined in accordance with the expression:

- среднее направление разлета элементов в статике.where

- the average direction of expansion of elements in statics.

The value of the delay time for operation, which the UAV IS must work out, is determined by the formula:

- средняя величина времени инерционности инициирующих элементов полезной нагрузки.where

- the average value of the inertia time of the initiating elements of the payload.

The use of the proposed method will improve the efficiency of the use of UAVs in the delivery of payload elements to the AO, by determining the angle of the AO during its movement.

Sources of information

1. RF patent for the invention No. 2398183, class. F42B 15/01, dated 08/27/2010

2. RF patent for the invention No. 2484419, class. F42B 15/01, dated 06/10/2013 (prototype).

3. Sebryakov G.G., Krasilshchikov M.N. Modern information technologies in the tasks of navigation and guidance of unmanned maneuverable aerial vehicles. M.: FIZMAT LIT, 2009. 556 p.

4. Sebryakov G.G., Muzhichek S.M., Skrynnikov A.A., Pavlov V.I., Ermolin O.V. Determining the radial direction to an object in the guidance system of an unmanned aerial vehicle // Bulletin of Computer and Information Technologies. 2016. No. 12. S.24-28.

5. Sebryakov G.G., Muzhichek S.M., Skrynnikov A.A., Pavlov V.I., Ermolin O.V. Determination of the instantaneous position of the miss point of an unmanned aerial vehicle according to the information of the goniometric channel // Bulletin of Computer and Information Technologies. 2017. No. 5. S.23-27.

6. Bukhalev V.A. Information processing and missile control under countermeasures. - M .: Air Force Academy named after Professor N.E. Zhukovsky and Yu.A. Gagarina, 2009. - 146 p.

7. Aircraft radio control systems. T.1. Principles of construction of control systems. Fundamentals of synthesis and analysis / Ed. A.I. Kanashchenkova and V.I. Merkulov. - M.: "Radio engineering", 2003. - 192 p.

8. Aircraft radio control systems. T.2. Radio-electronic homing systems / Ed. A.I. Kanashchenkova and V.I. Merkulov. - M.: "Radio engineering", 2003. - 390 p.

9. Tikhonov V.I., Kharisov V.N. Statistical analysis and synthesis of radio engineering devices and systems. - M.: Radio and communication, 1991. - 608 p.

10. Muzhichek S.M., Obrosov K.V., Kim V.Ya., Lisitsyn V.M. Determining the direction of flight by the signals of the optical-electronic system of the forward view. Bulletin of computer and information technologies. 2013. No. 5 (107). pp.8-13.

Claims (1)

A method for delivering a payload to an air object, including emitting a signal by an information sensor in the direction of the object, receiving a signal reflected from the object, determining the speed of approach of an unmanned aerial vehicle to the object, determining the predicted angular position of the object relative to the longitudinal axis of the unmanned aerial vehicle, forming a field of payload elements in in the direction of the passage of the object, taking into account its predicted angular position, clarifying the value of the delay time for ejection of the payload, taking into account the data obtained and the design features of the information sensor and the payload of the unmanned aerial vehicle, characterized in that a typical linear size of the object is obtained from the carrier of the unmanned aerial vehicle, using an information sensor, the current predicted values of the miss of the unmanned aerial vehicle relative to of the object, the angle of the object, as well as the current predicted delay time for the release of the payload, at the moment of blinding the information sensor of the unmanned aerial vehicle, the values of the relative speed of approach of the unmanned aerial vehicle to the object, the angular position of the object relative to the unmanned aerial vehicle, the angle of the object, the miss of the unmanned aerial vehicle of the aircraft relative to the object is determined by fixed values of the relative speed of approach of the unmanned aerial vehicle with the object, the angular position of the object relative to the unmanned aerial vehicle, the angle of the object, the miss of the unmanned aerial vehicle relative to the object, the value of the delay time for the release of the payload, the elements are ejected after the delay time payload in the direction of an air object.

Images