RU2499218C1 - Method of antiaircraft defence and system to this end - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: proposed method comprises target detection and identification, target capture, target tracking, target approach speed, computation of missile absolute muzzle velocity, computation of predicted range, computation of missile muzzle velocity and muzzle velocity modulus with allowance for barrel bore wear, computation of predicted angles and coordinates of moving target and objected under defence in vertical and horizontal planes of aiming coordinate, changing the position of weapons barrels relative to current position of boresight with allowance for actual muzzle and absoluter velocity of missile with due allowance for gun barrel bore wear. Proposed antiaircraft system comprises surveillance and aiming system, navigation system, onboard computer system, weapons drives, machine gun or gun systems, first and second transducers secured at gun barrel, missile muzzle velocity and definite combinations of system components.

EFFECT: higher accuracy of fire.

4 cl, 3 dwg

Description

The invention relates to the field of weapons and military equipment, in particular to the protection of objects from air attack means, for example, using machine gun (cannon) installations.

There is a method of protecting a combat vehicle, which consists in detecting and identifying a target, visually determining speed, angle and distance to the target, choosing a point of sight on the rings of the sight grid in accordance with the angle of view of the target, firing at an air target [1].

A known subsystem for protecting a combat vehicle from air attack means, including a gunner’s collimator sight, a guidance mechanism, large-caliber anti-aircraft machine guns [1].

The disadvantage of the above method and its implementing subsystem is the low efficiency of firing at air targets, due to the large errors of the eye-measuring method for determining the distance to the target and the angle of view of the target.

There is a method of protecting bomber aircraft from attacking targets, which consists in searching (detecting), capturing targets for tracking, tracking the target with a sighting and navigation system with the necessary parameters being output to the on-board computer, determining angular corrections of firing with practicing their power drive with a machine gun (cannon) installation (PU) and target shooting [2].

The disadvantage of this method is the complexity of the aiming algorithm, which is a system of eight non-linear equations, which leads to difficulties (or even impossibility) of its implementation even on modern on-board digital computers (digital computers). The simplified dependencies of the aiming algorithm, proposed there [2], intended for implementation on analogue computers, introduce large methodological errors.

Another significant drawback that occurs when solving the above system of nonlinear equations is the influence and mutual influence of channels (tracking systems).

A known method of protection against air attack means, which consists in the search and detection of targets, taking them for tracking, tracking and determining angular corrections of shooting, shooting taking them into account on the target [3].

Known fire protection system, which contains a sighting and sighting, navigation system, on-board computer system that determines the angular correction of fire, power drives installation, machine gun (gun) installation [3].

However, the assumptions made during the derivation of the aiming algorithm lead to large systematic errors in the development of preemptions, and, consequently, to a significant decrease in the effectiveness of firing at air attack means.

, вычислении абсолютной начальной скорости снаряда V₀₁ из соотношения:Closest to the invention is a method of protecting an object, which consists in detecting and identifying a target, taking it for tracking, tracking and determining angular corrections of firing, firing a cannon launcher taking them into account on a target, determining the speed of approach of the target to the carrier $$\dot{D}$$

, calculating the absolute initial velocity of the projectile V ₀₁ from the ratio:

$$V_{01}=\sqrt{V_0^2+V_H^2+2V_0{V}_H\cos \beta \cos \epsilon },$$

where V ₀ is the relative initial velocity of the projectile, m / s, V _n is the velocity of the carrier, m / s, β is the angle of sight of the target in the horizontal plane in the coordinate system associated with the carrier, rad, ε is the angle of sight of the target in the vertical plane in the bound with a carrier coordinate system, glad to find the projectile flight time t _floor from the ratio:

$$t_{P\mathrm{about}l}=\frac{D_y}{V_{01}}{g}_{\mathrm{one}}\left(C_H{D}_y,V_{01}\right),$$

where g ₁ (C _H D _y , V ₀₁ ) is a tabular function that takes into account air resistance when determining t; C _H = cH (H) - reduced ballistic coefficient, C - ballistic coefficient of the projectile, m ² / kgf, N (N) - relative density of air, b / r, finding the anticipated range from the ratio:

$$\begin{array}{l}{D}_y={\{\left[D+\dot{D}\left(t_{P\mathrm{about}l}+t_s\right)+V_H{t}_{P\mathrm{about}l}\cos \beta \cos \epsilon \right]}^2\\ +{\left[D{\omega }_{ZA}\left(t_{P\mathrm{about}l}+t_s\right)-V_H{t}_{P\mathrm{about}l}\cos \beta \sin \epsilon \right]}^2\\ {+{\left[-D{\omega }_{YA}\left(t_{P\mathrm{about}l}+t_s\right)+V_H{t}_{P\mathrm{about}l}\sin \epsilon \right]}^2\}}^{\mathrm{one}/2}\end{array}$$

- скорость сближения цели и носителя, м/с, ω_AY - угловая скорость линии визирования относительно вертикальной оси (OY_A) прицельной системы координат X_ДY_ДZ_Д, 1/с, ω_ZA - угловая скорость линии визирования относительно горизонтальной оси (OZ_D) прицельной системы координат X_DY_DZ_D, 1/c, t_пол - полетное время снаряда, с, t_з - время задержки (время между последним замером координат и параметров цели и началом стрельбы), с, определении кинематических поправок (углы упреждения на движение цели и носителя) Δε, Δβ прицельной системы из соотношений:where D _y is the anticipated range, D is the current range to the target, m, $$\dot{D}$$

- target and carrier approach speed, m / s, ω _AY - angular velocity of the line of sight relative to the vertical axis (OY _A ) of the aiming coordinate system X _D Y _D Z _D , 1 / s, ω _ZA - angular velocity of the line of sight relative to the horizontal axis ( OZ _D ) sighting coordinate system X _D Y _D Z _D , 1 / c, t _floor - flight time of the projectile, s, t _s - delay time (time between the last measurement of coordinates and target parameters and the start of shooting), s, determination of kinematic corrections (lead angles on the movement of the target and the carrier) Δε, Δβ of the aiming system from the relations:

$$\Delta \epsilon =\frac{{\omega }_{YAD}D\left(t_{P\mathrm{about}l}+t_s\right)}{D_y}\cdot \frac{V_{01}}{V_0}+V_H\cos \beta \sin \epsilon \cdot \frac{t_{P\mathrm{about}l}{V}_{01}-D_y}{D_y{V}_0};$$

$$\Delta \beta =\frac{{\omega }_{ZA}D\left(t_{P\mathrm{about}l}+t_s\right)}{D_y}\cdot \frac{V_{01}}{V_0}-V_H\sin \beta \cdot \frac{t_{P\mathrm{about}l}{V}_{01}-D_y}{D_y{V}_0},$$

where Δβ is the angle of lead on the movement of the target and carrier in the horizontal plane of the aiming coordinate system X _D Y _D Z _D , rad, Δε is the angle of lead on the movement of the target and carrier in the vertical plane of the aiming coordinate system X _D Y _D Z _D , rad, and in accordance with the calculated angular corrections during firing, the barrel of the cannon mount is constantly deflected relative to the current position of the line of sight [4].

Closest to the invention is a system for protecting an object from air attack means, which comprises a sighting and navigation system, an on-board computer system, power drives of the installation, a machine-gun (cannon) installation, and the on-board computer system includes a lead angle determination device, which consists of a lead angle forming unit Δβ, a lead angle forming unit Δε, and also a lead distance forming unit, flight time formation unit, a forming unit the absolute initial velocity, the block forming the approach velocity [4].

The disadvantage of this method and device is the lack of accuracy of aiming, since when forming lead angles for gun barrels, data on the initial and absolute initial velocity are taken into account without taking into account wear of the barrel of the gun.

The technical result of the invention is to improve the accuracy of aiming.

The technical result of the invention is achieved by the fact that in the method of protecting an object, which consists in detecting and identifying a target, taking it for tracking, tracking and determining angular corrections of firing, firing a cannon mount with their aim in mind, determining the speed of approach of the target to the carrier, calculating the absolute initial projectile speed from the ratio:

$$V_{01}=\sqrt{V_0^2+V_H^2+2V_0{V}_H\cos \beta \cos \epsilon },$$

where V ₀ is the relative initial velocity of the projectile, m / s, V _n is the velocity of the carrier, m / s, β is the angle of sight of the target in the horizontal plane in the coordinate system associated with the carrier, rad, ε is the angle of sight of the target in the vertical plane in the bound with a carrier coordinate system, glad to find the projectile flight time t _floor from the ratio:

$$t_{P\mathrm{about}l}=\frac{D_y}{V_{01}}{g}_{\mathrm{one}}\left(C_H{D}_y,V_{01}\right),$$

where g ₁ (C _H D _y , V ₀₁ ) is a tabular function that takes into account air resistance when determining t; C _H = cH (H) - reduced ballistic coefficient, C - ballistic coefficient of the projectile, m / kgf, N (N) - relative density of air, b / r, finding the anticipated range from the ratio:

$$\begin{array}{l}{D}_y={\{\left[D+\dot{D}\left(t_{P\mathrm{about}l}+t_s\right)+V_H{t}_{P\mathrm{about}l}\cos \beta \cos \epsilon \right]}^2\\ +{\left[D{\omega }_{ZA}\left(t_{P\mathrm{about}l}+t_s\right)-V_H{t}_{P\mathrm{about}l}\cos \beta \sin \epsilon \right]}^2\\ {+{\left[-D{\omega }_{YA}\left(t_{P\mathrm{about}l}+t_s\right)+V_H{t}_{P\mathrm{about}l}\sin \epsilon \right]}^2\}}^{\mathrm{one}/2}\end{array}$$

- скорость сближения цели и носителя, м/с, ω_УА - угловая скорость линии визирования относительно вертикальной оси (OY_A) прицельной системы координат X_ДY_ДZ_Д, 1/с, ω_ZA - угловая скорость линии визирования относительно горизонтальной оси (OZ_D) прицельной системы координат X_DY_DZ_D, 1/c, t_пол - полетное время снаряда, с, t_з - время задержки (время между последним замером координат и параметров цели и началом стрельбы), с, дополнительно определяют текущее значение начальной и абсолютной начальной скорости снаряда, осуществляют определение кинематических поправок (углы упреждения на движение цели и носителя) Δε, Δβ прицельной системы с учетом текущих значений начальной и абсолютной начальной скорости снаряда из соотношений:where D _y is the anticipated range, D is the current range to the target, m, $$\dot{D}$$

- target and carrier approach velocity, m / s, ω _UA - angular velocity of the line of sight relative to the vertical axis (OY _A ) of the aiming coordinate system X _D Y _D Z _D , 1 / s, ω _ZA - angular velocity of the line of sight relative to the horizontal axis ( OZ _D ) sighting coordinate system X _D Y _D Z _D , 1 / c, t _floor - flight time of the projectile, s, t _s - delay time (time between the last measurement of coordinates and target parameters and the start of shooting), s, additionally determine the current the value of the initial and absolute initial velocity of the projectile, determine the kinematic corrections (lead angles on the movement of the target and the carrier) Δε, Δβ of the aiming system, taking into account the current values of the initial and absolute initial velocity of the projectile from the relations:

$$\Delta \epsilon =\frac{{\omega }_{YAD}D\left(t_{P\mathrm{about}l}+t_s\right)}{D_y}\cdot \frac{V_{01}}{V_0}+V_H\cos \beta \sin \epsilon \cdot \frac{t_{P\mathrm{about}l}{V}_{01}-D_y}{D_y{V}_0};$$

$$\Delta \beta =\frac{{\omega }_{ZA}D\left(t_{P\mathrm{about}l}+t_s\right)}{D_y}\cdot \frac{V_{01}}{V_0}-V_H\sin \beta \cdot \frac{t_{P\mathrm{about}l}{V}_{01}-D_y}{D_y{V}_0},$$

where Δβ is the angle of lead on the movement of the target and carrier in the horizontal plane of the aiming coordinate system X _D Y _D Z _D , rad, Δε is the angle of lead on the movement of the target and carrier in the vertical plane of the aiming coordinate system X _D Y _D Z _D , rad, and in accordance with the calculated angular corrections during firing, the barrel of the cannon mount is constantly deflected relative to the current position of the line of sight.

To implement the method into a system for protecting an object from air attack means, which contains a sighting and sighting, navigation system, on-board computer system, power drives of the installation, machine gun (cannon) installation, while the outputs of the sighting and sighting system and navigation system are connected respectively to the first and second the group of inputs of the onboard computer system, the first and second outputs of which are connected to the power drives of the installation, the outputs of which are connected to the gun installation, additionally introduced the first and the second sensors, the unit for determining the initial velocity of the projectile, and the outputs of the sensors are connected to the first and second inputs of the unit for determining the initial velocity, the output of which is connected to the third input of the onboard computer system.

In addition, the on-board computer system determines the angles Δβ, Δε of the lead of the gun barrel in accordance with the expression

$$\Delta \beta =\frac{{\omega }_{ZA}\dot{D}\left(t_{P\mathrm{about}l}+t_s\right)}{D_y}\cdot \frac{V_{01}}{V_0}-V_H\sin \beta \cdot \frac{t_{P\mathrm{about}l}{V}_{01}-D_y}{D_y{V}_0},$$

$$\Delta \epsilon =\frac{{\omega }_{YA}\dot{D}\left(t_{P\mathrm{about}l}+t_s\right)}{D_y}\cdot \frac{V_{01}}{V_0}+V_H\cos \beta \sin \epsilon \cdot \frac{t_{P\mathrm{about}l}{V}_{01}-D_y}{D_y{V}_0};$$

- скорость сближения цели и боевой машины, м/с; ω_УА - угловая скорость линии визирования относительно вертикальной оси прицельной системы координат, 1/с; ω_ZA - угловая скорость линии визирования относительно горизонтальной оси прицельной системы координат, 1/с; осуществляет реализацию алгоритма формирования упрежденной дальности Д_y в соответствии с выражениемwhere D is the current range to the target, m; D _y - the anticipated range, m; $$\dot{D}$$

- speed of approach of the target and the combat vehicle, m / s; ω _UA - the angular velocity of the line of sight relative to the vertical axis of the aiming coordinate system, 1 / s; ω _ZA is the angular velocity of the line of sight relative to the horizontal axis of the aiming coordinate system, 1 / s; implements the algorithm for the formation of the anticipated range D _y in accordance with the expression

$$\begin{array}{l}{D}_y={\{\left[D+\dot{D}\left(t_{P\mathrm{about}l}+t_s\right)+V_H{t}_{P\mathrm{about}l}\cos \beta \cos \epsilon \right]}^2\\ +{\left[D{\omega }_{ZA}\left(t_{P\mathrm{about}l}+t_s\right)-V_H{t}_{P\mathrm{about}l}\cos \beta \sin \epsilon \right]}^2\\ {+{\left[-D{\omega }_{YA}\left(t_{P\mathrm{about}l}+t_s\right)+V_H{t}_{P\mathrm{about}l}\sin \epsilon \right]}^2\}}^{\mathrm{one}/2}\end{array}$$

implements an algorithm for the formation of flight time t _floor in accordance with the expression

$$t_{P\mathrm{about}l}=\frac{D_y}{V_{01}}{g}_{\mathrm{one}}\left(C_H{D}_y,V_{01}\right),$$

where g ₁ (C _H D _y , V ₀₁ ) is a tabular function that takes into account air resistance when determining t; C _H = cH (H) - reduced ballistic coefficient, C - ballistic coefficient of the projectile, m ² / kgf, N (N) - relative air density, b / r, implements the algorithm for generating the absolute initial velocity V ₀₁ in accordance with the expression

$$V_{01}=\sqrt{V_0^2+V_H^2+2V_0{V}_H\cos \beta \cos \epsilon },$$

сближения,where V ₀ is the relative initial velocity of the projectile, m / s; V _n - speed of the object of protection, m / s; β is the angle of sight of the target in the horizontal plane in the object of protection connected with the coordinate system, rad; ε is the angle of sight of the target in a vertical plane in the coordinate system of the object to be protected, glad, and implements an algorithm for the formation of speed $$\dot{D}$$

rapprochement

, $$\dot{D}=\raisebox{1ex}{$\left(D_2-D_{\mathrm{one}}\right)$}\!\left/ \!\raisebox{-1ex}{$\Delta t$}\right.$$

,

where D ₁ , D ₂ are the values of the measuring range at time t ₂ , t ₂ , Δt is the time interval between measurements.

In addition, the unit for determining the initial velocity of the projectile, contains a differentiating circuit, a pulse generator, a shift register, an element NOT, an element And, the first and second pulse counters, a signal generator, a divider, a memory unit, while the first, second and third inputs of the initial determination unit projectile speeds are respectively the first input of the shift register, the element NOT, and the input of the differentiating circuit, the output of which is connected to the second inputs of the shift register, the first and second counters, and the third input of the shift register connected to the output of the pulse generator, the output of the shift register is connected to the first inputs of the first counter and the element And, the second and third inputs of which are connected respectively to the output of the element NOT and the output of the pulse generator, and the output of the element And is connected to the first input of the second counter, the output of which is connected to the first input of the divider, the second input of which is connected to the output of the signal setter, and the output of the divider is connected to the first input of the memory unit, the second input of which is connected to the output of the first counter, the output of the memory unit output of the wish to set up for determining the initial velocity of the projectile.

относительно связанной с носителем системы координат (с.к.) X_HY_HY_H. Система координат X_HY_HY_H жестко связана с центром масс носителя. Ось OX_H направлена вдоль продольной оси носителя по направлению движения, ось OY_H в плоскости симметрии носителя вверх перпендикулярно к плоскости башни, ось OZ_H перпендикулярно к плоскости X_HOZ_H, причем за положительное направление оси принимаем направление вправо.Figure 1 shows the orientation of the sighting coordinate system X _D Y _D Z _D and the coordinate system associated with a movable artillery installation $$X_{V_0}{Y}_{V_0}{Z}_{V_0}$$

relative to the coordinate system (s.c.) associated with the carrier X _H Y _H Y _H. The coordinate system X _H Y _H Y Y _{H is} rigidly connected to the center of mass of the carrier. The axis OX _{H is} directed along the longitudinal axis of the carrier in the direction of movement, the axis OY _H in the plane of symmetry of the carrier is upward perpendicular to the plane of the tower, the axis OZ _{H is} perpendicular to the plane X _H OZ _H , and for the positive direction of the axis we take the direction to the right.

S.K. X _H Y _H Z _H is connected to the target tracking system (sighting device). The axis OX _{D is} directed along the range line. S. to X _D Y _D Z _{D is} formed from S. to. X _H Y _H Z _{H in} two rotations: a) around the axis OY _H by an angle β in the plane of the tower; b) around the axis OZ _D in a plane perpendicular to the plane of the tower at an angle ε.

связана с подвижной ПУ. Ось $$O{X}_{V_0}$$

направлена по оси ствола пушки по вектору V₀.S.K. $$X_{V_0}{Y}_{V_0}{Z}_{V_0}$$

connected with mobile PU. Axis $$O{X}_{V_0}$$

directed along the axis of the gun barrel along the vector V ₀ .

образуется из с.к. X_HY_HZ_H двумя поворотами:S.K. $$X_{V_0}{Y}_{V_0}{Z}_{V_0}$$

formed from s.k. X _H Y _H Z _H two turns:

на угол ε^/=ε+Δε.a) around the axis of rotation parallel to the axis OY _{H of the} carrier at an angle β ^/ = β + Δβ; b) around the axis $$O{Z}_{V_0}$$

by the angle ε ^/ = ε + Δε.

Figure 2 presents the functional diagram of the protection system of the object. Figure 3 shows the structural diagram of the unit for determining the initial velocity of the projectile.

The system for protecting an object from aerospace attack means includes sighting and sighting 1, navigation 2, airborne computing 3 systems, first 4 and second 5 sensors, a unit 6 for determining the initial velocity of the projectile, power drives 7 of the installation, machine gun (gun) 8 installation, the outputs of the survey-sighting 1 and navigation 2 systems are connected respectively to the first and second group of inputs of the airborne 3 computing system, the first and second outputs of which are connected to the power drives 7 of the installation, the outputs of which are connected to the push By the final 8 installation, the outputs of the first 3 and second 4 sensors are connected to the first and second inputs of the initial speed determining unit 6, the output of which is connected to the third input of the onboard computer 3 system.

Block 6 for determining the initial velocity of the projectile, contains a differentiating circuit 9, a pulse generator 10, a shift register 11, a HE 12 element, an AND 13 element, a first 14 and a second 15 pulse counters, a signal setter 16, a divider 17, a memory block 18, the first , the second and third inputs of the initial projectile velocity determination unit 6 are, respectively, the first input of the shift register 11, element HE 12, and the input of the differentiating circuit 9, the output of which is connected to the second inputs of the shift register 11, the first 14 and second 15 counters, and the third input the register 11 is connected to the output of the pulse generator 10, the output of the shift register 11 is connected to the first inputs of the first 14 counter and the element And 13, the second and third inputs of which are connected respectively to the output of the element HE 12 and the output of the pulse generator 10, and the output of the element And 13 is connected with the first input of the second 15 counter, the output of which is connected to the first input of the divider 17, the second input of which is connected to the output of the signal setter 16, and the output of the divider 17 is connected to the first input of the memory unit 18, the second input of which is connected to the output the first- counter 14, the output 18 of the storage unit is an output unit 6 determine the initial velocity of the projectile.

The object security system works as follows.

At the moment of detection and recognition of a flying target to the object of protection, it is ensured by taking it for escort, escort.

At the same time, signals corresponding to the values of the target’s viewing angles in the horizontal and vertical planes β and ε and ω _YA ω _{ZA come} to the first group of inputs of the on-board computer system from the outputs of the survey-aiming system.

From the outputs of the navigation system, signals about the speed of the carrier V _n , air density and others are fed to the second group of inputs of the on-board computer system (figure 2).

The on-board computer system implements the algorithm for generating the absolute initial velocity V ₀₁ in accordance with the expression

$$V_{01}=\sqrt{V_0^2+V_H^2+2V_0{V}_H\cos \beta \cos \epsilon },$$

where V ₀ is the relative initial velocity of the projectile, m / s; V _n - speed of the object of protection, m / s; β is the angle of sight of the target in the horizontal plane in the object of protection connected with the coordinate system, rad; ε is the angle of sight of the target in a vertical plane in the object of protection associated with the coordinate system, rad.

The initial velocity of the projectile is determined by the unit for determining the initial velocity of the projectile as follows (Fig 3).

At the start of firing, when the power is turned on, the unit 6 for determining the initial velocity of the projectile for measurement is prepared. In this case, the zeroing of the shift register 11, and the first 14 and second 15 counters, which are part of the block 6 for determining the initial velocity of the projectile in the next circuit, the power supply through the differentiating circuit 9 to the second inputs of the shift register 11, the first 14 and second 15 counters.

During the firing of the anti-aircraft gun at the outputs of the sensors (4, 5) fixed to the outputs of the barrel channel, signals arise that are transmitted sequentially to the first and second inputs of the unit 6 for determining the initial velocity of the projectile. In this case, the signals are respectively supplied to the first input of the shift register 11 and the input of the element NOT 12, the signal from the output of the pulse generator 10 is fed to the third input of the shift register 11.

At the time of the signal from the output of the first 4 sensors to the first input of the shift register 11, from its output the signal goes to the first inputs of the first 14 of the counter and element And 13, the second and third inputs of which receive signals, respectively, from the output of the element NOT 12 and the output of the generator 10 pulses.

From the output of element And 13, the signal goes to the first input of the second 15 counter, the output of which goes to the first input of the divider 17, the second input of which receives the signal from the output of the setter 16 signals.

The output of the first 15 counters generates a signal corresponding to the number of shots from the barrel.

From the output of the divider 17, the signal corresponding to the initial velocity of the projectile is fed to the first input of the memory unit 17, the second input of which receives a signal corresponding to the number of shots of the projectile is supplied from the output of the first counter 14, the output of the memory block 18 is the output of the initial velocity of the projectile block 6.

At the time of the signal from the output of the second 5 sensor to the input of the element HE 12, the signal from its output and, accordingly, from the second input of the element And 13 is removed, thereby stopping the counting of pulses by the second 15 counter.

Thus, the output of the memory unit 18 stores signals corresponding to the number of shots fired and the initial velocity of the projectile.

сближения осуществляется в соответствии с выражением:Speed formation $$\dot{D}$$

rapprochement is carried out in accordance with the expression:

, $$\dot{D}=\raisebox{1ex}{$\left(D_2-D_{\mathrm{one}}\right)$}\!\left/ \!\raisebox{-1ex}{$\Delta t$}\right.$$

,

where D ₁ , D ₂ are the values of the measuring range at time t ₁ , t ₂ , while Δt is the time interval between measurements.

The range is determined on the basis of a monopulse laser range finder after making a decision about firing immediately before firing, a double range measurement of D ₁ = D (t ₁ ) and D ₂ = D (t ₂ ) is made after some predetermined stable time interval.

целесообразно рассчитывать, в частности, с помощью фильтров с эффективной конечной памятью.There may be other more complex options for determining the speed of approach. For example, in the presence of a high-frequency rangefinder $$\dot{D}$$

it is advisable to calculate, in particular, using filters with effective finite memory.

The on-board computing 3 system of the object carries out the formation of the predefined range D _y in accordance with the expression:

$$\begin{array}{l}{D}_y={\{\left[D+\dot{D}\left(t_{P\mathrm{about}l}+t_s\right)+V_H{t}_{P\mathrm{about}l}\cos \beta \cos \epsilon \right]}^2+[D{\omega }_{ZA}\left(t_{P\mathrm{about}l}+t_s\right)-\\ {V_H{t}_{P\mathrm{about}l}\cos \beta \sin \epsilon ]}^2{+{\left[-D{\omega }_{YA}\left(t_{P\mathrm{about}l}+t_s\right)+V_H{t}_{P\mathrm{about}l}\sin \epsilon \right]}^2\}}^{\mathrm{one}/2},\end{array}$$

while the formation of flight time t _{floor is} carried out in accordance with the expression

$$t_{P\mathrm{about}l}=\frac{D_y}{V_{01}}{g}_{\mathrm{one}}\left(C_H{D}_y,V_{01}\right),$$

where g ₁ (C _H D _y , V ₀₁ ) is a tabular function that takes into account air resistance when determining t; C _H = cH (H) - reduced ballistic coefficient, C - ballistic coefficient of the projectile, m ² / kgf, H (H) relative air density, b / p.

определяется нулевое приближенное значение полетного времени $${\dot{t}}_{пол}={\dot{D}}_y/v_{01}$$

. Далее с использованием информации с обзорно-прицельной и навигационной систем вычисляется первое приближение упрежденной дальностиThe sequence of formation of the anticipated range D _y is as follows. At the zero initial value of the anticipated range $$D_y={\dot{D}}_y=D$$

zero approximate flight time value is determined $${\dot{t}}_{P\mathrm{about}l}={\dot{D}}_y/v_{01}$$

. Then, using the information from the sighting and navigation systems, the first approximation of the anticipated range is calculated

$$\begin{array}{l}{D}_{{}_y}^{//}={\{\left[D+\dot{D}\left(t_{{}_{P\mathrm{about}l}}^0+t_s\right)+V_H{t}_{{}_{P\mathrm{about}l}}^0\cos \beta \cos \epsilon \right]}^2\\ +{\left[D{\omega }_{ZA}\left(t_{{}_{P\mathrm{about}l}}^0+t_s\right)-V_H{t}_{{}_{P\mathrm{about}l}}^0\cos \beta \sin \epsilon \right]}^2\\ {+{\left[-D{\omega }_{YA}\left(t_{{}_{P\mathrm{about}l}}^0+t_s\right)+V_H{t}_{{}_{P\mathrm{about}l}}^0\sin \epsilon \right]}^2\}}^{\mathrm{one}/2},\end{array}$$

, которое поступает на вход алгоритма формирования упрежденной дальности D_y, где осуществляется вторая итерация вычисление $$D_{.y}{}^{(2)}$$

.which is fed to the input of the algorithm for the formation of flight time t _floor along with the value of the absolute initial velocity V ₀₁ from the output of the algorithm for the formation of the absolute initial velocity of the projectile as well as the relative density of air N (N), etc. The first flight time value is calculated $$t^{\left(\mathrm{one}\right)}{}_{P\mathrm{about}l}$$

, which is fed to the input of the algorithm for the formation of the anticipated range D _y , where the second iteration is performed $$D_{.y}{}^{(2)}$$

.

полученное значение D_y поступает на входы алгоритмов формирования углов упреждения Δβ и Δε.Iterations continue until the modulus of the difference of two successive approximations D _y is less than a given small value ε. When the condition is met $$\epsilon =\left|D_y^i-D_y^{i-\mathrm{one}}\right|<{\epsilon }^{tReb}$$

the obtained value of D _y goes to the inputs of the algorithms for the formation of lead angles Δβ and Δε.

Based on the obtained values of the anticipated range, the flight time of the projectile, the initial and absolute initial velocity of the projectile, the speed of approach of the air attack means and the object of defense, the angular corrections of the firing are determined and the firing of the cannon mount takes into account their target.

The on-board computing 3 system determines the angles Δβ, Δε of the lead of the weapon barrels in accordance with the expression

$$\Delta \beta =\frac{{\omega }_{ZA}\dot{D}\left(t_{P\mathrm{about}l}+t_s\right)}{D_y}\cdot \frac{V_{01}}{V_0}-V_H\sin \beta \cdot \frac{t_{P\mathrm{about}l}{V}_{01}-D_y}{D_y{V}_0},$$

$$\Delta \epsilon =\frac{{\omega }_{YA}\dot{D}\left(t_{P\mathrm{about}l}+t_s\right)}{D_y}\cdot \frac{V_{01}}{V_0}+V_H\cos \beta \sin \epsilon \cdot \frac{t_{P\mathrm{about}l}{V}_{01}-D_y}{D_y{V}_0};$$

- скорость сближения цели и боевой машины, м/с; ω_УА - угловая скорость линии визирования относительно вертикальной оси прицельной системы координат, 1/с; ω_ZA - угловая скорость линии визирования относительно горизонтальной оси прицельной системы координат, 1/с.where D is the current range to the target, m; D _y - the anticipated range, m; $$\dot{D}$$

- speed of approach of the target and the combat vehicle, m / s; ω _UA - the angular velocity of the line of sight relative to the vertical axis of the aiming coordinate system, 1 / s; ω _ZA is the angular velocity of the line of sight relative to the horizontal axis of the aiming coordinate system, 1 / s.

Next, the combination of the worked out corrections for each of the channels goes to the input of the power 7 drive.

Power 7 drive, processing control signals taking into account the feedback signal, at each moment of time deploy gun trunks 8 installation in the right direction.

Using the proposed method and its implementing system will provide improved accuracy and hence the effectiveness of anti-aircraft fire against air targets in defending an object, based on the use of actual data on the initial velocity of the projectile, in the formation of lead angles of the weapon barrels.

Information sources

1. Theory of shooting from tanks / Ed. N.I. Romanova. - M.: Academy of Armored Forces. Marshal Malinovsky R.Ya., 1973, p. 315-328.

2. Mubarashkin R.V. and other Targeted shooting systems, part 1. - M.: VVIA them. prof. NOT. Zhukovsky, 1973, p. 78-90, 96, 97.

3. Presnukhin L.N. et al. Fundamentals of the theory and design of control devices. - M .: Oborongiz, 1960, p.200, 201.

4. A method of protecting a combat vehicle from air attack weapons and a system for its implementation. RF patent for the invention No. 2087832, Application No. 95100709/02, publ. 01/17/1995, the patent publ. 08/20/1997

Claims (4)

1. A method of protecting objects from air attack means, including the detection and recognition of targets, taking them for tracking, tracking, speed determination $$\dot{D}$$

the proximity of the target to the object of protection, the calculation of the absolute initial velocity of the projectile V ₀₁ from the ratio:
$$V_{01}=\sqrt{V_0^2+V_H^2+2V_0{V}_H\cos \beta \cos \epsilon },$$

where V ₀ is the relative initial velocity of the projectile, m / s; V _N - the speed of movement of the object of protection, m / s; β is the angle of sight of the target in the horizontal plane in the coordinate system associated with the object of protection, rad; ε is the angle of sight of the target in a vertical plane in the coordinate system associated with the object of protection, glad to find the projectile flight time t _floor from the ratio:
$$t_{P\mathrm{about}l}=\frac{D_y}{V_{01}}{g}_{\mathrm{one}}\left(C_H{D}_y,V_{01}\right),$$

where g ₁ (C _H D _y , V ₀₁ ) is a tabular function that takes into account air resistance when determining t; C _H = cH (H) is the reduced ballistic coefficient, C is the ballistic coefficient of the projectile, m ² / kgf, H (H) is the relative density of air, b / p, finding the anticipated range from the ratio:
$$\begin{array}{l}{D}_y={\{\left[D+\dot{D}\left(t_{P\mathrm{about}l}+t_s\right)+V_H{t}_{P\mathrm{about}l}\cos \beta \cos \epsilon \right]}^2\\ +{\left[D{\omega }_{ZA}\left(t_{P\mathrm{about}l}+t_s\right)-V_H{t}_{P\mathrm{about}l}\cos \beta \sin \epsilon \right]}^2\\ {+{\left[-D{\omega }_{YA}\left(t_{P\mathrm{about}l}+t_s\right)+V_H{t}_{P\mathrm{about}l}\sin \epsilon \right]}^2\}}^{\mathrm{one}/2},\end{array}$$

where D is the current range to the target, m; D _y - the anticipated range, m; $$\dot{D}$$

- speed of approach of the target and the object of protection, m / s; ω _YА is the angular velocity of the line of sight relative to the vertical axis of the aiming coordinate system, 1 / s; ω _ZA is the angular velocity of the line of sight relative to the horizontal axis of the aiming coordinate system, 1 / s; t _floor - projectile flight time, s; t _s - the delay time between the last measurement of the coordinates and parameters of the target and the beginning of the shooting, s, characterized in that it further determines the current value of the initial velocity of the projectile V ₀ and absolute V _{01 the} initial velocity of the projectile taking into account the wear of the barrel, kinematic corrections (angles lead on the movement of the target and the object of protection) Δε, Δβ, respectively, in the vertical and horizontal planes of the aiming coordinate system, taking into account the current values of the initial and absolute initial velocity of the projectile from relationship:
$$\Delta \epsilon =\frac{{\omega }_{YAD}D\left(t_{P\mathrm{about}l}+t_s\right)}{D_y}\cdot \frac{V_{01}}{V_0}+V_H\cos \beta \sin \epsilon \cdot \frac{t_{P\mathrm{about}l}{V}_{01}-D_y}{D_y{V}_0};$$

$$\Delta \beta =\frac{{\omega }_{ZA}D\left(t_{P\mathrm{about}l}+t_s\right)}{D_y}\cdot \frac{V_{01}}{V_0}-V_H\sin \beta \cdot \frac{t_{P\mathrm{about}l}{V}_{01}-D_y}{D_y{V}_0},$$

where Δβ is the angle of lead on the movement of the target and carrier in the horizontal plane of the aiming coordinate system X _D Y _D Z _D , rad, Δε is the angle of lead on the movement of the target and carrier in the vertical plane of the aiming coordinate system X _D Y _D Z _D , rad, and in accordance with the calculated angular corrections during firing, the barrel of the cannon mount is constantly deflected relative to the current position of the line of sight. 2. The system for protecting objects from air attack means includes a sighting and sighting, navigation system, on-board computer system, power drives, machine gun or cannon launcher, the outputs of the sighting and navigation and navigation systems being connected to the inputs of the on-board computer system, the output of which is connected to the inputs power drives of the installation, the outputs of which are connected to the inputs of a machine-gun or cannon installation, characterized in that the first and second sensors are additionally introduced, the detection unit began at the projectile velocity, while the first and second sensors are located on the barrel or in the immediate vicinity of the barrel, the outputs of the sensors are connected to the first and second input of the initial projectile velocity determination unit, the third input of which is connected to the power source, and the output of the initial projectile velocity determination unit is connected to the third input of the onboard computer system. 3. The system according to claim 2, characterized in that the on-board computer system determines the angles Δβ, Δε of the lead of the gun barrel in accordance with the expression
$$\Delta \beta =\frac{{\omega }_{ZA}D\left(t_{P\mathrm{about}l}+t_s\right)}{D_y}\cdot \frac{V_{01}}{V_0}-V_H\sin \beta \cdot \frac{t_{P\mathrm{about}l}{V}_{01}-D_y}{D_y{V}_0},$$

$$\Delta \epsilon =\frac{{\omega }_{YA}D\left(t_{P\mathrm{about}l}+t_s\right)}{D_y}\cdot \frac{V_{01}}{V_0}+V_H\cos \beta \sin \epsilon \cdot \frac{t_{P\mathrm{about}l}{V}_{01}-D_y}{D_y{V}_0};$$

where D is the current range to the target, m; D _y - the anticipated range, m; $$\dot{D}$$

- speed of approach of the target and the combat vehicle, m / s; ω _YА is the angular velocity of the line of sight relative to the vertical axis of the aiming coordinate system, 1 / s; ω _ZA is the angular velocity of the line of sight relative to the horizontal axis of the aiming coordinate system, 1 / s; implements the algorithm for the formation of the anticipated range D _y in accordance with the expression
$$\begin{array}{l}{D}_y={\{\left[D+\dot{D}\left(t_{P\mathrm{about}l}+t_s\right)+V_H{t}_{P\mathrm{about}l}\cos \beta \cos \epsilon \right]}^2\\ +{\left[D{\omega }_{ZA}\left(t_{P\mathrm{about}l}+t_s\right)-V_H{t}_{P\mathrm{about}l}\cos \beta \sin \epsilon \right]}^2,\\ {+{\left[-D{\omega }_{YA}\left(t_{P\mathrm{about}l}+t_s\right)+V_H{t}_{P\mathrm{about}l}\sin \epsilon \right]}^2\}}^{\mathrm{one}/2}\end{array}$$

implements an algorithm for the formation of flight time t _floor in accordance with the expression
$$t_{P\mathrm{about}l}=\frac{D_y}{V_{01}}{g}_{\mathrm{one}}\left(C_H{D}_y,V_{01}\right),$$

where g ₁ (C _H D _y , V ₀₁ ) is a tabular function that takes into account air resistance when determining t; C _H = cH (H) - reduced ballistic coefficient, C - ballistic coefficient of the projectile, m ² / kgf, H (H) - relative air density, b / r, implements the algorithm for generating the absolute initial velocity V ₀₁ in accordance with the expression
$$V_{01}=\sqrt{V_0^2+V_H^2+2V_0{V}_H\cos \beta \cos \epsilon },$$

where V ₀ is the relative initial velocity of the projectile, m / s; V _n - speed of the object of protection, m / s; β is the angle of sight of the target in the horizontal plane in the object of protection connected with the coordinate system, rad; ε is the angle of sight of the target in a vertical plane in the coordinate system of the object to be protected, glad, and implements an algorithm for the formation of speed $$\dot{D}$$

rapprochement
$$\dot{D}=\raisebox{1ex}{$\left(D_2-D_{\mathrm{one}}\right)$}\!\left/ \!\raisebox{-1ex}{$\Delta t$}\right.$$

,
where D ₁ , D ₂ are the values of the measuring range at time t ₁ , t ₂ , Δt is the time interval between measurements. 4. The system according to claim 2, characterized in that the unit for determining the initial velocity of the projectile contains a differentiating circuit, a pulse generator, a shift register, an element NOT, an element AND, the first and second pulse counters, a signal generator, a divider, a memory unit, while the first , the second and third inputs of the initial projectile velocity determining unit are respectively the first input of the shift register, the element NOT, and the input of the differentiating circuit, the output of which is connected to the second inputs of the shift register, the first and second counters, and a third the input of the shift register is connected to the output of the pulse generator, the output of the shift register is connected to the first inputs of the first counter and the And element, the second and third inputs of which are connected respectively to the output of the element NOT and the output of the pulse generator, and the output of the And element is connected to the first input of the second counter, the output which is connected to the first input of the divider, the second input of which is connected to the output of the signal setter, and the output of the divider is connected to the first input of the memory unit, the second input of which is connected to the output of the first account Linda, the output memory unit is an output unit for determining the initial velocity of the projectile.

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