RU2794300C2 - Method for obtainment of probabilistic assessment of possibility of overcoming damage zones of anti-aircraft guided missiles by maneuvering unmanned aerial vehicle - Google Patents

Abstract

FIELD: military equipment.

SUBSTANCE: method for obtainment of a probabilistic assessment of a possibility of overcoming damage zones of anti-aircraft guided missiles by a maneuvering unmanned aerial vehicle (hereinafter – UAV) can be used in planning their trajectories with sections lying in damage zones of anti-aircraft guided missiles (hereinafter – AGM). The method consists in calculation, during computer modeling of UAV movement in AGM damage zone at each moment of time, of the difference between current and required values of UAV maneuvering intensity indicator, as which an angular speed of change in UAV movement direction serves, and, by a combination of positive and negative signs of the difference, the maneuver is assessed as effective or ineffective. The required value of UAV maneuvering intensity in AGM damage zone at any moment of time depends on maximum AGM maneuvering capacities, and it is determined from a condition of provision of a threshold value of a miss, corresponding to a required value of a probability of UAV undamaged.

EFFECT: development of a method for obtainment of a probabilistic assessment of a possibility of overcoming damage zones of anti-aircraft guided missiles by a maneuvering unmanned aerial vehicle.

1 cl, 3 dwg, 1 tbl

Description

The invention relates to the field of flight control of aeroballistic unmanned aerial vehicles (UAVs) and can be used when planning their trajectories with areas lying in the affected areas of anti-aircraft guided missiles (SAM).

There are no descriptions in the patent literature of methods for probabilistic estimation of the effectiveness of aircraft maneuvers.

Closest to this invention is the patent RU 2 634 659 C1 [1], based on the following provisions. When planning UAV routes with the inevitable stay in the zone of action of anti-missile and air defense systems (ABM-Air Defense), a temporary UAV movement program is set with the entry and stay in the zone of destruction of the missile defense system in time less than the missile system needs to intercept this target. It is expected that there will be a disruption in the guidance of the missile launcher to intercept. The UAV movement program provides for maneuvers of repeated entry and exit of the UAV from the zone of destruction of missiles. The authors of the invention believe that the proposed method of maneuvering the UAV completely eliminates or significantly reduces the possibility of hitting the UAV during reconnaissance of the enemy's territory and performing some other tasks.

The disadvantages of this method:

1. The method is unsuitable for planning the trajectories of high-speed strike UAVs, the targets of which are protected by anti-aircraft missile systems with a sufficiently large number of missiles.

2. The method does not allow to evaluate the effectiveness of the specified UAV maneuvers quantitatively, in terms of probability.

The objective of the invention is to create a method that allows you to approximately estimate in advance the potential probability of hitting or not hitting a UAV when it moves with a given maneuver in the affected areas of missile defense and air defense missiles.

The technical result is achieved by the fact that during computer simulation of the movement of the UAV at each point of its trajectory in the affected area of the SAM, the current values of the UAV maneuvering intensity indicator are calculated and compared with the current required values that ensure that the UAV is not hit with a given probability, a probabilistic assessment of the possibility of overcoming the affected area of the SAM is obtained the ratio of the sum of time intervals of UAV movement with a favorable outcome for UAVs of possible encounters with SAM to the entire time of UAV movement in the SAM affected area.

The essence of the invention is illustrated by the description below, figures 1, 2, 3 and is confirmed by an example of modeling the movement of a UAV in a dive area with an anti-intercept maneuver in table 1.

The proposed method is based on the following main provisions:

в пределах ограничения1. The interception of a UAV by an anti-aircraft guided missile is carried out in two stages. At the first stage, missiles are guided to a pre-empted rendezvous point S*. At the second stage, a few seconds before the meeting, guidance is carried out directly on the target (figure 1). The last correction of missile guidance is carried out due to the transverse control engine (DPU), which creates the necessary control acceleration in the required transverse direction in a short time interval Δt ^DPU

within the limit

After working out the thrust impulse of the DPU, a command is issued to undermine the high-explosive fragmentation charge of the SAM warhead.

где

- динамическая составляющая (составляющая промаха, обусловленная недостаточностью ресурса управления в поперечном направлении),

- случайная составляющая; мощность боевого заряда ЗУР как функция его массы m_бз и стойкость БЛА k, задаваемая коэффициентом ослабления ущерба, наносимого взрывом заряда ЗУР [2]:2. The probability of hitting a UAV depends on many factors, the main of which are: missile guidance error - miss

Where

- dynamic component (miss component due to insufficient control resource in the transverse direction),

- random component; the power of the SAM warhead as a function of its mass m _bz and the resistance of the UAV k, set by the coefficient of attenuation of damage caused by the explosion of the SAM charge [2]:

- нормированное среднеквадратическое отклонение.Where

- normalized standard deviation.

имеет вид:The random component of the missile guidance error is very small and is not taken into account here. The formula for calculating the probability of hitting a UAV [2], taking into account the remarks regarding the value

looks like:

- нормирующий коэффициент, учитывающий особенности ЗУР и БЛА.Where

- normalizing coefficient, taking into account the features of missiles and UAVs.

направленного по нормали к вектору скорости, или угловая скорость изменения направления движения БЛА

которую можно определить с помощью выражения:3. The maneuverability of an aircraft is its ability to change the direction of movement under the influence of control forces. An indicator of the intensity of UAV maneuvering in the considered section of the trajectory can be the current values of its lateral acceleration

directed along the normal to the velocity vector, or the angular rate of change in the direction of the UAV

which can be defined using the expression:

where Δt is a small time interval, for example, the step of numerical integration of the UAV motion equations.

создаваемое ДПУ, с ограничением (1).An indicator of the intensity of maneuvering missiles at the stage of the last correction of targeting can be its lateral acceleration

created DPU, with restriction (1).

4. From expression (3) for any value of a missile miss of a certain type, it is possible to determine the corresponding value of the probability of hitting a target with a certain stability coefficient:

), начиная с которого, вероятность поражения цели взрывом осколочно-фугасного заряда ЗУР становится настолько малой, что не выводит ее из строя. Ее называют допустимой вероятностью поражения:

а величину

- требуемым значением вероятности непоражения цели, или критерием эффективности маневра БЛА.Note that, due to the continuity of function (2), there is such a value of the missile miss (let's call it the threshold

), starting from which, the probability of hitting a target with an explosion of a high-explosive fragmentation charge of a missile defense system becomes so small that it does not disable it. It is called the acceptable probability of defeat:

and the value

- the required value of the probability of not hitting the target, or the criterion for the effectiveness of the UAV maneuver.

5. If at any point of the trajectory in the zone of destruction of missiles, the required value of the probability of not hitting the UAV is provided with the help of a maneuver, then such a maneuver will be considered effective.

при

6. Obviously, the missile miss depends on the ratio of the intensity of the UAV maneuvering in the zone of destruction of the missile and the maximum maneuverability of the missile. Explicit Dependency Expression

at

на любой момент t в зоне поражения ЗУР.will allow to determine the required value of the UAV maneuvering intensity

at any moment t in the zone of destruction of missiles.

If the condition

- показателем эффективности маневра БЛА на данном участке траектории в зоне поражения ЗУР.then the maneuver can be considered effective, and the current value of the difference

- an indicator of the effectiveness of the UAV maneuver in a given section of the trajectory in the zone of destruction of missiles.

рассмотрим взаимное расположение ЗУР и БЛА в двух случаях: первый (фиг. 2) - на момент начала работы ДПУ ЗУР, и второй (фиг. 3) - на момент окончания работы ДПУ t_к = t_н + Δt^ДПУ, одновременно являющийся моментом взрыва заряда ЗУР.To obtain an explicit form of functional dependence (6), from which the required value of the UAV maneuvering intensity indicator is determined

Let's consider the relative position of the SAM and the UAV in two cases: the first (Fig. 2) - at the time of the start of the DPU SAM, and the second (Fig. 3) - at the time of the end of the DPU t _k = t _n + Δt ^DPU , which is also the moment of the explosion ZUR charge.

Выгодное, потому что в случае отсутствия маневра цели с угловой скоростью

она будет поражена непосредственным соударением, а при наличии маневра цели для ее поражения из этого положения требуется наименьшее поперечное ускорение от ДПУ

The figure 2 shows the most advantageous for the SAM mutual location of the SAM and the UAV at the time of the start of the last correction of the guidance of the SAM at a distance

Advantageous, because in the absence of a target maneuver with an angular velocity

it will be hit by direct impact, and if there is a target maneuver, to hit it from this position, the smallest lateral acceleration from the DPU is required

и оказаться на безопасном расстоянии и от центра взрыва:In figure 3, in the picture plane relative to the line of sight of the target, the position of the UAV at the moment of explosion of the SAM charge is displayed in the case when the UAV manages to cover the distance in the transverse direction during the operation of all micromotors Δt ^DPU due to its maneuver

and be at a safe distance from the center of the explosion:

- расстояние в поперечном направлении, пройденное ЗУР за время Δt^ДПУ.Where

- the distance in the transverse direction, passed by the missile defense during the time Δt ^DPU .

определим в виде:Distance

define in the form:

нарастает по линейному закону до своего максимального значения

выражение (9) принимает вид:and under the assumption that in the process of successive (during the rotation of the SAM body) connection to the operation of all groups of micromotors of the DPU, the lateral acceleration of the SAM

increases linearly up to its maximum value

expression (9) takes the form:

по формуле (5) имеет вид:Expression (8) in explicit form, taking into account the possibility of calculating the quantity

according to formula (5) has the form:

может быть рассчитано (см. фиг. 3) по формуле:On the other hand, the distance

can be calculated (see Fig. 3) by the formula:

Assuming the constancy of the speed of the UAV in the time interval Δt ^DPU, expression (11) takes the form:

получаем формулу для вычисления требуемого значения интенсивности маневрирования БЛА на любой момент времени его движения в зоне поражения ЗУР:Equating expressions (11) and (13) and resolving the resulting expression with respect to the quantity

we obtain a formula for calculating the required value of the UAV maneuvering intensity at any time of its movement in the zone of destruction of missiles:

с требуемыми значениями

на одни те же моменты времени. Текущее значение

рассчитывается в процессе компьютерного моделирования движения БЛА с заданным маневром по формуле (4).Now, in order to evaluate the effectiveness of any UAV maneuver in the SAM affected area, it is necessary to compare the current values of its maneuverability index

with required values

for the same moments in time. present value

is calculated in the process of computer simulation of the movement of the UAV with a given maneuver according to formula (4).

The essence of the invention lies in the fact that in the process of computer simulation of the movement of the UAV in the affected area of the SAM, the differences between the current and required values of the UAV maneuvering intensity indicator are calculated at short time intervals:

- «+» или «-» - маневр оценивается как эффективный или неэффективный.and by the set of signs of the parameter

- "+" or "-" - the maneuver is evaluated as effective or ineffective.

назовем показателем эффективности маневра БЛА. При всех положительных значениях параметра

маневр признается эффективным. При наличии значительной доли значений

со знаком «-» маневр БЛА оценивается как неэффективный. При наличии небольшого числа отрицательных значений этого параметра маневр можно признать частично удовлетворяющим заданному критерию эффективности. Дополнительную информацию о качестве маневра дают величины модулей параметра

Они позволяют оценить необходимость и возможность повышения эффективности маневра БЛА на проблемных участках планируемой траектории.Parameter

Let's call it an indicator of the effectiveness of the UAV maneuver. For all positive values of the parameter

maneuver is considered effective. If there is a significant proportion of values

with the “-” sign, the UAV maneuver is assessed as ineffective. In the presence of a small number of negative values of this parameter, the maneuver can be considered partially satisfying the given efficiency criterion. Additional information about the quality of the maneuver is given by the magnitudes of the parameter modules

They make it possible to assess the need and possibility of increasing the efficiency of the UAV maneuver in problem areas of the planned trajectory.

An example of using the proposed method is given below.

м/с² за время Δt^ДПУ = 1 с, но их боевые заряды различны: у двухступенчатой ЗУР m_бз = 60 кг, у одноступенчатой m_бз = 11 кг. При стойкости БЛА k=1 и заданном критерии эффективности, соответствующем вероятности непоражения

пороговые значения радиусов поражения от взрывов зарядов ЗУР составляют соответственно

и 7.5 м.The UAV dive section is considered with the maneuver given by several reference points serving as intermediate UAV guidance points. The trajectory of the UAV crosses the affected areas of two different SAMs: the affected area of a two-stage SAM and the area of a single-stage SAM. The maneuverability of the combat stages of both missiles is the same: DPU can create maximum acceleration in the transverse direction for them

m / s ² during the time Δt ^DPU = 1 s, but their warheads are different: for a two-stage missile, m _bz = 60 kg, for a single-stage m _bz = 11 kg. With the stability of the UAV k=1 and a given efficiency criterion corresponding to the probability of non-damage

threshold values of damage radii from explosions of SAM charges are respectively

and 7.5 m.

Table 1 presents the results of the UAV movement simulation in the dive area with a successive flight through both zones. The following designations are accepted in the table: t is the current time of the UAV movement; Η - current height of the UAV trajectory; V is the current speed of the UAV; AzV is the current azimuth of the UAV movement direction; tetaV is the current angle of inclination of the UAV velocity vector to the local horizon; db/dt - current values of the UAV maneuvering intensity index; dbtr/dt - required values of the UAV maneuvering intensity index; delta - current values of the UAV maneuver efficiency index; n is the current lateral overload of the UAV.

Parameters Η, V, AzV, tetaV characterize the current changes in the UAV movement direction. The db/dt parameter is the current value of the UAV maneuvering intensity indicator, the dbtr/dt parameter is the current required value of the UAV maneuvering intensity indicator, the delta parameter is the difference between the current values of these parameters.

Based on the results of UAV trajectory modeling, the following conclusions can be drawn:

1. In the affected area of a two-stage missile defense system, the UAV maneuver efficiency index values are positive (delta>0) for all t, (t _in ≤ t ≤ t _out ) and, therefore, the given UAV maneuver fully satisfies the given value of the efficiency criterion

2. In the affected area of a single-stage SAM, the given maneuver cannot be considered effective, since in the altitude range from 6 to 3 km, the current values of the delta parameter are negative. The db/dt parameter values turned out to be less than the required dbtr/dt values. However, if the concept of partial satisfaction of the given value of the efficiency criterion is acceptable, then with the help of the ratio of the time of movement under the condition delta> 0 - ΔТ ⁽⁺⁾ to the time of movement on the entire section in the affected area of the SAM - T ^(mz) , the value

calculated at the end of the simulation of the movement of the UAV, can be interpreted as satisfaction of the given value of the maneuver efficiency criterion by X percent.

на 77%.In the given example (table 1) ΔT ⁽⁺⁾ = 20 s, T ^(mz) - 26 s and, therefore, the UAV maneuver in the affected area of a single-stage missile satisfies the specified value of the efficiency criterion

by 77%.

3. To make the maneuver fully effective, you can:

a) make changes to the maneuver configuration by changing the positions of one or two reference points of the trajectory and repeat the calculation of the UAV trajectory with the control of the maneuver efficiency indicator;

вместо

что соответствует уменьшению порогового значения радиуса поражения БЛА взрывом заряда одноступенчатой ЗУР с 7.5 м до 5 м.b) without making changes to the maneuver configuration, repeat the simulation of the movement of the UAV with a reduced value of the efficiency criterion - the probability of non-hit, for example, when

instead of

which corresponds to a decrease in the threshold value of the radius of destruction of the UAV by the explosion of the charge of a single-stage missile defense system from 7.5 m to 5 m.

Information sources

1. Patent RU 2634659 C1, 2017.

2. Design of anti-aircraft guided missiles / I.I. Arkhangelsky, P.P. Afanasiev, E.G. Bolotov, I.S. Golubev, A.M. Matveenko, V.Ya. Mizrokhi, V.N. Novikov, S.N. Ostapenko, V.G. Svetlov; ed. I.S. Golubev and V.G. Svetlov. - ed. 2nd, revised. and additional - M: MAI Publishing House, 2001. - 732 p.

Claims (1)

A method for obtaining a probabilistic assessment of the possibility of overcoming the zone of destruction of an anti-aircraft guided missile (SAM) by a maneuvering unmanned aerial vehicle (UAV), which consists in the fact that during computer simulation of the movement of the UAV at each point of its trajectory in the zone of destruction of the SAM, the current values of the UAV maneuvering intensity index are calculated and compared it with the current required values that ensure that the UAV is not hit with a given probability, a probabilistic assessment of the possibility of overcoming the SAM affected area is obtained by the ratio of the sum of time intervals of the UAV movement with a favorable outcome for the UAV of possible encounters with the SAM to the entire time of the UAV movement in the SAM affected area.

Images