RU2785804C1 - Fire control system of a combat vehicle - Google Patents

Abstract

FIELD: weapons.

SUBSTANCE: invention relates to the field of weaponry, in particular, to the fire control system of a combat vehicle, usable for hitting fast-moving targets. Fire control system of a combat vehicle comprises a sighting system including an optoelectronic system, a teleautomatic target tracker, a sight training drive and a sight elevation drive with angular position sensors, configured to exchange data with each other; a central computing system, a control system for the gun barrel aiming and stabilisation drives, including a power amplification unit, a gun barrel training drive and a gun barrel elevation drive with angular position sensors, configured to exchange data with each other; a survey control and navigation system installed in the turret of the combat vehicle, including an inertial navigation system and ground-based equipment of a satellite navigation system, configured to exchange data with each other; a distance covered sensor. The sighting system herein is linked with the central computing system, the central computing system is linked with the control system of the gun aiming and stabilisation drives and with the survey control and navigation system, the distance covered sensor is linked with the inertial navigation system, special software with calculation algorithms allowing converting the data obtained in the local coordinate system of the sight into the Earth topographic coordinate system is installed in the central computing system.

EFFECT: higher accuracy of determining the trajectory of the target and the accuracy of aiming the gun at the point of collision of the munition with the target, including at a lower firing rate.

4 cl, 2 dwg

Description

The invention relates to the field of weapons, in particular to the fire control system of a combat vehicle, which can be used to destroy fast moving targets.

Fire control systems (FCS) are widely used in military equipment: in tanks, self-propelled artillery installations and ship installations. Most fire control systems are designed to fire from a standstill or with a straight-line movement of a combat vehicle to hit targets at short ranges with relatively low speeds. Since in these cases, during the flight of the projectile, the relative movements of the combat vehicle and the target are small, such fire control systems usually operate with small corrections that take into account the relative movements of the target and deviations of the projectile flight due to external factors.

There are various options for building an SLA.

The control system of the T-80U tank - the 1A45 complex (see the technical description BL1.335.066TO) contains the 1G46 day sight and the T01-K01 night sighting system with the TPN-4 sight (see the technical description BL1.335.055TO). The day sight has independent stabilization of the field of view in the plane of vertical (VN) and horizontal (GN) guidance. Night sight TPN-4 has dependent stabilization in both planes.

The disadvantages of this variant of the SLA are large errors in the stabilization of the field of view of the night sight (median error at the level of 0.6 mrad), which makes it difficult to observe and aim in motion. The aiming angle in the night sight is entered manually by shifting the reticle. Since the sight mirror is mechanically connected to the gun, the mode of automatic input of aiming angles and lateral lead into the gun and turret drives cannot be used, which reduces the effectiveness of the weapon.

A variant of the SLA of the T-80U tank is also known, where the 1A45 complex, together with the 1G46 day sight, includes the T01-P02 thermal imaging sight (see technical description BL1.335.078TO). The 1G46 gunner's day sight is installed in the tank turret and includes gyro-stabilizing devices, angle sensors, vertical and horizontal mirrors. These elements provide independent stabilization of the field of view and the line of sight in the plane of the HV and GN. Stabilization of the aiming line in the HV plane is carried out by a gyro stabilizer, the outer frame of which is connected to a vertical mirror by means of a kinematic transmission. The gyroscope, providing stabilization of the aiming line, simultaneously acts as a sensor of the angle of the gun stabilization system. To do this, the angle sensor rotor is connected to a vertical mirror, and the angle sensor stator is mounted on the gyro stabilizer body, which is kinematically connected to the tool by a parallelogram mechanism. Stabilization of the gun in the VN plane is carried out relative to the aiming line. When the tank is moving, the VN drive automatically acts on the gun mounted in the trunnion nodes of the turret, trying to give it a position consistent with the line of sight. Stabilization of the aiming line in the GN plane is carried out by a gyrostabilizer kinematically connected to the horizontal mirror. The angle of rotation of the turret with the gun relative to the aiming line in the GN plane is measured by an angle sensor, the rotor of which is kinematically connected to the horizontal mirror, and the stator is rigidly connected to the body of the sight and the turret. The signal from the angle sensor, which is proportional to the misalignment angle of the aiming line and the axis of the bore of the gun, is fed to the input of the GN drive, which automatically acts on the turret and eliminates the misalignment, trying to give the turret with the gun a position consistent with the aiming line. The T01-P02 thermal imaging sight is installed in the tank turret, while the horizontal axis of the sight mirror is connected to the gun swing axis by means of a linkage mechanism, which is a system of rods with bearing assemblies and an intermediate shaft. Thus, the dependent stabilization of the field of view of the thermal imaging sight together with the gun in the plane of the HV and GN is carried out. The aiming and lateral lead angles are entered into the vertical guidance drive (VN) and the horizontal guidance drive (GN), respectively, according to the signals of the ballistic computer.

The disadvantages of the considered system include:
- low accuracy of dependent stabilization of the field of view of a thermal imaging sight (median error up to 0.4 mrad in the HV plane and up to 0.6 mrad in the HH plane), which makes it difficult to observe and aim when the combat vehicle is moving;

- delay in the preparation of a shot when working with a thermal imaging sight, since it is impossible to track the target and range during the automatic loading cycle, when the gun stops at the loading angle;

- limited capabilities for controlling weapons from a thermal imaging sight, due to the low accuracy of synchronous tracking of the lines of sight of daytime and thermal imaging sights.

Known for fire control systems (RU 2187060 C2, class F41G5 / 14, F41 G3 / 22, published on August 10, 2002) with day and night sights that have independent stabilization of the fields of view in the planes of vertical and horizontal guidance. The scheme for controlling the fields of view of the sights in the SLA is designed in such a way that the alignment and synchronous movement of the lines of sight of the two sights is constantly ensured. Thus, it was possible to combine two autonomously operating sights into a single sighting system and at the same time use their technical capabilities. The error of alignment and synchronous tracking of the lines of sight of two sights in such an SLA does not exceed 0.5 arcsec. min. over the entire range of gun pumping angles. This was achieved by introducing two correctors into the SLA scheme. The first one eliminates the error of synchronous tracking due to the inaccuracy of their installation in the tower due to the non-parallelism of the landing surfaces. The second corrector compensates for the error in the angle transmission from the gun position sensor and the angle sensor of the vertical guidance plane of the daytime sight, due to the inaccuracy of the angle transmission mechanisms. The system provides the possibility of effective use of tank weapons day and night.

A well-known tank weapon control system (RU 2186324 C1, class F41G5/24, publ. 07/27/2002), containing a rangefinder sight with a button for turning on the automatic loading cycle of the gun, an armament stabilizer, a tank ballistic computer, potentiometers for manually entering corrections for temperature air, change in the initial speed of the projectile depending on the batch of charges, atmospheric pressure, wear of the gun bore, charge temperature and automatic sensors for wind speed, roll, tank speed and heading angle. This system improves the accuracy of shooting by providing an objective control of the reliability of the information necessary for preparing a shot and automating the process of selecting and entering the actual values of the measured quantities.

A computer-television fire control system is known (RU 2226319 C1, class H04N5/33, G06F19/00, G06F171/00, publ. temperature and humidity, wind force and direction sensor, target elevation sensor, nadir point sensor. This invention qualitatively improves the accuracy of shooting due to the maximum consideration of the factors affecting the accuracy of shooting.

These systems do not allow receiving and simultaneously processing two video signals and solving the problem of interactive capture and tracking of an object.

An intelligent fire control system of a combat vehicle is known (RU 98237 U1, class F41G 5/00, published on October 10, 2010), containing a gunner's multi-channel thermal imaging sight, a commander's panoramic sight, sensors, a weapon stabilizer control unit, an additional control system control unit armament, automatic loader control unit, gunner and commander workstations, double sight television, all-round video system, sensor interface unit, video signal switching unit, multifunctional control unit, two multiplex information exchange channels.

A known fire control system for a combat vehicle (RU 134624 U1, F41G 5/14, published on 11/20/2013), containing a gunner's multi-channel sight, a commander's panoramic sight, a television double sight, a video signal switching unit, a remote machine gun control system control unit , commander’s and gunner’s video viewing devices and commander’s and gunner’s consoles, sensors that take into account the position of the gun, the position of the tower, the roll and pitch sensor, the wind sensor, the gun barrel bend sensor, the speed sensor, the multiplex information exchange channel, the automatic loader control unit, the stabilization control unit weapons, characterized in that additionally introduced a digital image processing unit, a loading console, a control panel for the fire control system of a combat vehicle and an automatic loader, interface and correction equipment, the input-output group of which from the first to the fifth is connected to the input-output group from the first on the fifth gunner's sight multi-channel, moreover we eat the second, fourth and fifth inputs-outputs are connected through digital channels of information exchange RS422, the sixth input-output of the equipment for interfacing and input of corrections is connected to the input-output of the gun barrel bending sensor through a digital channel of information exchange RS422, a group of inputs-outputs from the seventh to the ninth connected respectively to the group of input-outputs from the first to the third sight of the panoramic commander, and the seventh and eighth inputs-outputs are connected through digital channels of information exchange RS422, the group of inputs-outputs from the tenth to the twelfth of the interface and correction equipment is connected to the group of inputs-outputs with of the first to the third control unit of the control system of the remote machine gun installation, the tenth and eleventh inputs-outputs are connected via digital data exchange channels RS422, while the eleventh input-output is redundant, the fourth input-output of the control unit of the control system of the remote machine gun installation forms the first input - you the course of the fire control system of the combat vehicle for connection with the software and hardware complex of the object through an additional digital information exchange channel CAN, while the input of the control unit of the control system of the remote machine gun installation is connected to the third output of the commander's console, the first and second outputs of which are connected, respectively, to the sixth input of the equipment pairing and input of corrections and the first input of the automatic loader control unit, the second input of which is connected to the loading console, and the fourth output of the commander’s console is an output for connecting to the armament stabilization control unit, the fifth output of the commander’s console is an output for connecting to a backup television sight, the first the output of which is connected to the fifth input of the interface and correction equipment, the first, second, third and fourth inputs of which are connected respectively to the input of the wind sensor, the roll and pitch sensor, the turret position sensor and the gun position sensor, the second output is doubler television is designed for connection with the commander's console and for connection with the control panel of the fire control system of the combat vehicle and automatic loader, the first, second and third outputs of which are used to connect to the second input of the armament stabilization control unit, for connection with the television sight-understudy and for connection with the control unit of the autoloader, respectively, moreover, the input-output of the control unit of the autoloader is connected to the thirteenth input-output of the interface and correction equipment, the fourteenth and fifteenth inputs-outputs of which form, respectively, the second input-output of the fire control system of the combat vehicle for connection with the software and hardware complex of the object and the third input-output of the fire control system of the combat vehicle for connection with the software-hardware complex of the object through the CAN digital information exchange channel, the sixteenth input-output of the interface and correction equipment is connected to the first input ohm-output of the armament stabilization control unit, the first input of which is used to communicate with the second output of the gunner’s console, the first output of which is connected to the seventh input of the interface and correction equipment, the first and second outputs of which are connected respectively to the input of the control panel of the fire control system of the combat vehicle and loader and with the third input of the armament stabilization control unit, the fourth input of which serves to communicate with the speed sensor, the output of the armament stabilization control unit is intended for communication with the commander's console, and the input-output of the armament stabilization control unit is the fourth input-output of the combat fire control system vehicles for connection with the software and hardware complex of the object through the CAN digital information exchange channel, the input-output of the video signal switching unit is the fifth input-output of the fire control system of the combat vehicle, intended for connection with the software and hardware complex of the object and through the CAN digital information exchange channel, the first input-output of the digital image processing unit is the sixth input-output of the fire control system of the combat vehicle, which serves to connect with the facility’s software and hardware complex through the CAN digital information exchange channel, the second input-output of the digital image processing is the seventh input-output of the fire control system of the combat vehicle, designed to connect with the software and hardware complex of the object through the multiplex information exchange channel, and the group of inputs from the first to the fourth digital image processing unit is connected to the group of outputs from the first to the fourth video signal switching unit , the fifth and sixth outputs of which are used to connect to the commander's video viewing device, the ninth and tenth outputs of the video switching unit are used to connect to the gunner's video viewing device, while the sixth and ninth outputs of the video switching unit are i additional, the seventh and eighth outputs of the video signal switching unit are the first and second backup video outputs (VideoOut.1-res., VideoOut.2-res.), the first and second inputs of the video signal switching unit are connected respectively to the first and second outputs of the digital image processing unit , the third and fourth inputs of the video signal switching unit are intended for connection with the commander's panoramic sight, while the fourth input is a reserve one, the fifth input of the video signal switching unit is used for connection with the backup television sight, the seventh and eighth inputs of the video signal switching unit are intended for connection with the gunner's sight multi-channel thermal imaging, while the seventh input is a backup, the sixth input of the video signal switching unit is a backup video input (VideoInput-res.), and the gunner's multi-channel thermal imaging sight has an additional output through the "Video PNM" channel, the commander's panoramic sight has an additional output through the "Video PKP" channel and the double sight television has an additional output through the "Video PDT" channel. The specified system provides an increase in the reliability and expansion of the functionality of the fire control system of the combat vehicle.

The fire control system "KALINA" of the modern T-90MS tank is known (https://vpk.name/library/f/kalina-suo.), which includes a gunner's sight, a commander's panoramic sight, a digital ballistic computer and a set of sensors for firing conditions (wind speed, roll).

The developed fire control system of the Tunguska anti-aircraft missile system is known (https://tvzvezda.ru/weapon/raketi/201112071527-idxt.htm), which allows automatic firing not only from a standstill, but also on the move.

Known fire control system anti-aircraft missile complex "Pantsir-S1" (https://www.npovk.ru/produktsiya/zenitnye-raketno-pushechnye-kompleksy/pantsir-s1/). "Pantsir-S1" can conduct aimed fire while moving. This allows the machine to more effectively cover columns of equipment from air strikes.

From available sources (http://oruzhie.info/vojska-pvo/414-2s6m-tunguska-m) it is known that the continuous target destruction zone of the above anti-aircraft missile systems is achieved through sequential shelling of the target with a high rate of fire from an artillery mount caliber 30 mm.

The disadvantage of all the above systems is that their use does not allow to achieve an accurate determination of the trajectory of a high-speed target with an arbitrary maneuver of the carrier object and hit targets at a lower rate of fire.

The objective of the invention is to create a new fire control system with the ability to determine the trajectory of a high-speed target with an arbitrary maneuver of the carrier object.

The technical result is to increase the accuracy of determining the target trajectory and the accuracy of aiming the gun at the meeting point of the projectile with the target, including at a lower rate of fire.

This is achieved by the fact that the fire control system of the combat vehicle contains an aiming system, including an optoelectronic system made with television, thermal imaging and rangefinder channels, a target tracking teleautomatic device, a drive for horizontal aiming of the sight and a drive for vertical aiming of the sight with angular position sensors, made with the possibility communication with each other, a central computer system, a control system for guidance and stabilization drives of the gun barrel, including a power amplification unit, a drive for horizontal guidance of the gun barrel and a drive for vertical guidance of the gun barrel with angular position sensors, configured to exchange data with each other, a topographic location complex and navigation, installed in the turret of the combat vehicle, including an inertial navigation system and ground equipment of the satellite navigation system, configured to exchange data with each other, a distance traveled sensor, while aiming at the complex is connected to the central computer system, the central computer system is connected to the gun guidance and stabilization drive control system and to the topographic positioning and navigation complex, the distance traveled sensor is connected to the inertial navigation system, special software with calculation algorithms is installed in the central computer system, allowing to convert data , obtained in the local coordinate system of the sight, into the Earth's topographic coordinate system; target tracking teleautomatic device is a hardware-software complex that allows you to determine the exact position of the target by the video image of the target received from the optoelectronic system from the television or thermal imaging channels and the angular position of the sighting axis from the angular position sensors of the horizontal aiming drive of the sight and the drive of vertical aiming of the sight; an odometer sensor is used as a distance sensor; the sighting system is connected to the central computer system, the central computer system is connected to the gun guidance and stabilization drives control system and to the topographic positioning and navigation complex, the distance traveled sensor is connected to the inertial navigation system using an information exchange cable channel.

In FIG. 1 shows a functional diagram of the fire control system of a combat vehicle.

In FIG. 2 is a schematic drawing demonstrating the need to take into account the maneuver of a combat vehicle on rough terrain in order to accurately determine the target's trajectory, where:

- кажущаяся поперечная скорость;

- apparent transverse speed;

- траектория полета цели;

- target flight path;

- ось ствола;

- shaft axis;

- видимая с ЗАК 57 траектория полета цели.

- target flight path visible from ZAK 57.

Structurally, the fire control system of the combat vehicle in Fig. 1 contains:

1 - sighting system,

2 - optoelectronic system,

3 - teleautomatic target tracking,

4 - horizontal aiming drive,

5 - vertical aiming drive,

6 - central computer system,

7 - drive control system for aiming and stabilizing the gun barrel,

8 - power amplification unit,

9 - drive for horizontal guidance of the gun barrel,

10 - drive for vertical guidance of the gun barrel,

11 - a complex of topographic location and navigation,

12 - inertial navigation system,

13 - ground equipment of the satellite navigation system,

14 - distance traveled sensor.

The sighting system 1 includes an optoelectronic system 2 with a teleautomatic device for target tracking 3, with a drive for horizontal aiming of the sight 4 and with a drive for vertical aiming of the sight 5, configured to exchange data with each other, for example, via an information exchange cable channel.

Optoelectronic system 2 is made with television, thermal imaging and rangefinding channels, allowing to detect targets and determine the range to them.

Target tracking teleautomatic device 3 is a software and hardware complex that allows you to determine the exact position of the target from the video image of the target received from the optoelectronic system 2 from the television or thermal imaging channels and the angular position of the sighting axis from the angular position sensors of the horizontal guidance drive of the sight 4 and the vertical guidance drive sight 5.

Drive horizontal aiming sight 4 and drive vertical aiming sight 5 are electric motors with mechanical gears and with angular position sensors.

Sighting system 1 is connected to the central computer system 6, for example, using a cable channel of information exchange.

The central computing system 6 is a computing complex with an information display system.

The central computer system 6 is connected to the guidance and stabilization drive control system of the gun 7 and to the geolocation and navigation complex 11, for example, using a cable information exchange channel.

The guidance and stabilization drive control system for the gun 7 includes a power amplification unit 8, a horizontal guidance drive for the gun 9, and a vertical guidance drive for the gun 10, configured to exchange data with each other, for example, via an information exchange cable channel.

The horizontal guidance drive of the gun 9 and the vertical guidance drive of the gun 10 are electric motors with mechanical gears and with angular position sensors.

The complex of geolocation and navigation 11 is connected to the central computer system 6, for example, using a cable channel of information exchange.

The geolocation and navigation complex 11 includes an inertial navigation system 12 connected to the ground equipment of the satellite navigation system 13, configured to exchange data with each other, for example, via an information exchange cable channel.

The inertial navigation system 12 is located in the turret of the combat vehicle.

The distance sensor 14 is connected to the inertial navigation system 12, for example, using a data cable channel.

As the distance sensor 14, for example, an odometer sensor is used.

The proposed fire control system of the combat vehicle operates as follows.

Sighting system 1 detects the target, determines the range to it, captures and accompanies the target, determines the coordinates and speed of the target in the local coordinate system of the sight and transmits this information to the central computer system 6. In the teleautomatic target tracking 3 from the television (or thermal imaging) channel of the optical electronic system 2 receives information in the form of a video image of the target and, upon request, information about the distance to the target D, as well as from the angular position sensors of the drive for horizontal guidance of the sight 4 and the drive for vertical guidance of the sight 5 - data on the rotation angles α _sight and β _sight (angles sighting axis of the sighting complex 1 according to the data of the angular position sensors of the drive for the horizontal guidance of the sight 4 and the drive for the vertical guidance of the sight 5). Target tracking teleautomatic device 3 specifies the angles of deviation of the target δα and δβ from the position of the sighting axis of the sighting system 1 by video and transmits:

- in the drive of the horizontal guidance of the sight 4 and in the drive of the vertical guidance of the sight 5 - data on the angles of deviation of the target δα and δβ for testing;

- to the central computer system 6 - data on the angles (δα+α _int ) and ( _δβ +β int ), the distance to the target D, the size of the target (in the local coordinate system of the sighting complex 1).

Survey and navigation complex 11 determines and transmits to the central computer system 6 the orientation (data on the directional angle ψ, pitch ν and roll γ) and the current coordinates of the combat vehicle in the Earth's coordinate system. For a more accurate determination of the current coordinates of the combat vehicle, the topographic location and navigation complex 11 uses data from the distance traveled sensor 14.

Central Computing System 6 taking into account data from the sighting complex 1 and the complex of topographic location and navigation 11:

- determines the target coordinates, trajectory, predicted point and target speed in the Earth coordinate system;

- determines and outputs to the control system of the guidance and stabilization drives of the gun barrel 7 data on the guidance angles ψ _c , ν _c and the angular velocity of the target V _cx , V _{c y} , V _{c z} (taking into account ballistic, meteorological and other corrections) to orient it in the point where the projectile meets the target;

- determines the time correction of the fuse according to the data of the initial speed sensor.

After that, the drive control system for pointing and stabilizing the barrel guns 7 provides optimal targeting of the gun barrel by the horizontal guidance drive of the gun barrel 9 and the vertical guidance drive of the gun barrel 10 with sensors of position angles and angular velocity of the barrel. The power amplification unit 8, depending on the position of the barrel relative to the expected meeting point of the projectile, in order to generate the current parameters for the electric motor necessary to give the barrel an optimal angular velocity and angular acceleration. When the gun barrel enters the guidance zone, the guidance and stabilization drive control system gun 7 generates a signal allowing the shot.

On the march, with an arbitrary maneuver of the combat vehicle, the “apparent” trajectory of movement of high-speed targets, including air targets, obtained from the data of the sight, differs significantly from the real one (Fig. 2). Therefore, it must be recalculated into the trajectory of the target in a fixed coordinate system, the carrier of which is the complex of topographic location and navigation 11, after which the point of meeting of the projectile with the target in the current mode is predicted and the gun is aimed at this point.

The fire control system of the combat vehicle uses special software installed in the central computer system 6, which implements calculation algorithms that allow you to convert data obtained in the local coordinate system of the sighting system 1 into the Earth's topographic coordinate system. In this regard, to build calculated algorithms, the following coordinate systems are introduced:

- a fixed coordinate system, the X _- axis of which is horizontal and lies in the meridian plane, the Y-axis _n is perpendicular to the meridian line (corresponds to the Earth's topographic coordinate system with errors introduced by the topographic location and navigation complex 11);

- the coordinate system of the inertial navigation system 12, which is part of the topographic location and navigation complex 11, located in the tower of the combat vehicle;

- the coordinate system of the turret of the combat vehicle, where the Y _B axis coincides with the axis of rotation of the turret (perpendicular to the turret ring), and the X _B axis is longitudinal, perpendicular to the Y _B and trunnion axes;

- coordinate system of the sighting complex 1, where the Y axis of the _PC is perpendicular to the shoulder strap of the azimuthal part of the sighting complex 1, the Z axis of the _PC is parallel to the elevation axis of the sighting complex 1;

определяется в точке положения боевой машины на момент начала сопровождения цели. В этой системе координат определяются измеренные координаты цели, траектория полета цели и расчетные координаты точки встречи снаряда с целью.The origin of the fixed coordinate system (

is determined at the point of position of the combat vehicle at the time of the start of target tracking. In this coordinate system, the measured coordinates of the target, the flight path of the target, and the calculated coordinates of the projectile's meeting point with the target are determined.

) нужно вектор визирной оси прицельного комплекса 1 в локальной систем координат

последовательно перевести в систему координат комплекса топопривязки и навигации 11 и, наконец, в неподвижную систему координат, используя матрицы преобразования из системы координат прицельного комплекса 1 в систему координат комплекса топопривязки и навигации 11:To obtain the vector of the sighting axis of the sight in a fixed coordinate system (

) you need the vector of the sighting axis of the sighting complex 1 in the local coordinate system

successively translate into the coordinate system of the complex of topographic location and navigation 11 and, finally, into a fixed coordinate system, using the transformation matrices from the coordinate system of the sighting complex 1 to the coordinate system of the complex of topographic location and navigation 11:

- вектор визирной оси прицела в локальной системе координат прицельного комплекса 1;where

- vector of the sighting axis of the sight in the local coordinate system of the sighting complex 1;

и

- матрицы преобразования из системы координат прицельного комплекса 1 в систему координат комплекса топопривязки и навигации 11 и, дальше, в неподвижную систему координат соответственно;

and

- transformation matrices from the coordinate system of the sighting complex 1 to the coordinate system of the topographic location and navigation complex 11 and, further, to the fixed coordinate system, respectively;

и

- углы визирной оси прицела в системе координат прицельного комплекса 1 по данным датчиков углового положения приводов горизонтального и вертикального наведения прицельного комплекса 1.

and

- angles of the sighting axis of the sight in the coordinate system of the sighting system 1 according to the data of the sensors of the angular position of the horizontal and vertical guidance drives of the sighting system 1.

All transformation matrices have the form:

;

;

and the arguments in the matrix elements have the following values:

for A _PC-KTN - ψ _PR , ν _PR , γ _PR (Euler angles obtained by adjusting the sight relative to the topographic location and navigation complex 11);

- ψ_КТН, ν_КТН, γ_КТН (текущие углы Эйлера, измеренные комплексом топопривязки и навигации 11).for

- ψ _CTH , ν _CTH , γ _CTH (current Euler angles measured by the topographic location and navigation complex 11).

The current coordinates of the target in a fixed coordinate system are calculated by the formula:

- текущие координаты боевой машины, выдаваемые комплексом топопривязки и навигации 11;where

- the current coordinates of the combat vehicle, issued by the complex topographic location and navigation 11;

- координаты боевой машины, выдаваемые комплексом топопривязки и навигации 11 в момент начала слежения за целью;

- the coordinates of the combat vehicle, issued by the topographic location and navigation complex 11 at the time of the start of tracking the target;

- вектор цели в системе координат прицельного комплекса 1;

- target vector in the coordinate system of the sighting complex 1;

- текущая дальность до цели;

- current range to the target;

и

- углы визирной оси прицела в системе координат прицельного комплекса 1 по данным датчиков углового положения;

and

- angles of the sighting axis of the sight in the coordinate system of the sighting complex 1 according to the data of the angular position sensors;

- смещение системы координат прицела относительно системы координат башни боевой машины.

- offset of the coordinate system of the sight relative to the coordinate system of the combat vehicle turret.

According to the thirty current coordinates of the target obtained after the start of tracking, the trajectory, speed and acceleration of the target are determined by the method of least squares, after which the current meeting points of the projectile with the target are determined for each subsequent time interval of guidance until the shot is fired.

The presence in the fire control system of a topographical reference and navigation complex, which includes an inertial navigation system, ground equipment of a satellite navigation system and a distance sensor, allows you to determine the coordinates of the combat vehicle and the spatial angular position of the tower with the gun barrel and sighting axis of the sight in a fixed coordinate system, associated with the Earth's topographic coordinate system.

Thus, the proposed invention makes it possible to ensure the defeat of a high-speed target even at a lower rate of fire by improving the accuracy of aiming the gun at the point where the projectile meets the target.

Below is an example of a specific implementation of the proposed fire control system of a combat vehicle.

Example 1

The fire control system was implemented in a remotely controlled weapon station with an automatic gun of 57 mm caliber (DUBM-57).

In the sighting system, the optoelectronic detection and aiming system 7617.00.00.000 (JSC Peleng, Belarus) was used as an optoelectronic system, the target tracking machine VESHK.466219.001 (LLC VedaProekt) was used as the drive for horizontal aiming of the sight and the drive for vertical aiming of the sight were used electric motors with mechanical gearboxes and with angular position sensors.

The ANLF.433815.001 multifunctional operator panel block (ZAO NPK Alfa-M) with special software that has calculation algorithms that allow converting data obtained in the local coordinate system of the sight into the Earth's topographic coordinate system was used as the central computing system.

In the control system of gun guidance and stabilization drives, a power amplification unit developed by JSC "TsNII" Burevestnik was used as a power amplification unit, electric motors with mechanical gearboxes and angular position sensors were used as a drive for horizontal guidance of the gun and a drive for vertical guidance of the gun.

In the topographic positioning and navigation complex, the GL-150M block (LLC Girolab, Perm) was used as an inertial navigation system, and Breeze KM-U equipment (JSC Design Bureau NAVIS) was used as the ground equipment for the satellite navigation system.

An odometer sensor was used as the distance traveled sensor.

Calculations have shown that the error in predicting the coordinates of the projectile’s meeting point with the target at a distance of up to 6000 m, determined by this algorithm, does not exceed 3.5 m.

Claims (4)

1. The fire control system of a combat vehicle contains an aiming system, including an optoelectronic system made with television, thermal imaging and rangefinder channels, a target tracking teleautomatic device, a drive for horizontal aiming of the sight and a drive for vertical aiming of the sight with angular position sensors, made with the possibility of exchanging data between a central computer system, a drive control system for aiming and stabilizing the gun barrel, including a power amplification unit, a drive for horizontal guidance of the gun barrel and a drive for vertical guidance of the gun barrel with angular position sensors, configured to exchange data with each other, a topographic positioning and navigation complex installed in the tower of a combat vehicle, including an inertial navigation system and ground equipment of a satellite navigation system, made with the possibility of exchanging data with each other, a distance sensor, while the sighting system is connected to the center trawling computer system, the central computer system is connected to the drive control system for guidance and stabilization of the gun and to the topographic positioning and navigation complex, the distance traveled sensor is connected to the inertial navigation system, special software is installed in the central computer system with calculation algorithms that allow converting data received into local coordinate system of the sight, to the Earth's topographic coordinate system. 2. The system according to claim 1, characterized in that the target tracking teleautomatic device is a software and hardware complex that allows you to determine the exact position of the target from the video image of the target received from the optoelectronic system from the television or thermal imaging channels and the angular position of the sighting axis from the angular sensors the positions of the drive for horizontal aiming of the sight and the drive for vertical aiming of the sight. 3. The system according to claim 1, characterized in that an odometer sensor is used as the distance traveled sensor. 4. The system according to claim 1, characterized in that the sighting system is connected to the central computer system, the central computer system is connected to the guidance and stabilization drive control system of the gun and to the topographic location and navigation complex, the distance traveled sensor is connected to the inertial navigation system using a cable information exchange channel.

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