RU2539728C1 - Method for homing of controlled missile and homing system for its realisation - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: invention relates to systems of missile control and may be used in anti-tank guided weapons (ATGW). According to the method, they launch a controlled missile with a board source of radiation, with the help of a TV system a light flow is received from a source. A sequence of video frames is generated for a target environment together with an image of a source of radiation and a target. The space burned by the board source of radiation and coordinates of its centre are determined. Coordinates of the controlled missile are determined, and control commands are generated. In each frame within the limits of the field of view of a missile photodetector in accordance with the additionally generated sequence of video frames or by the current sequence of video frames they determine the area of the target image space. They calculate coordinates of the centre of the identified area of the target, and coordinates of the missile are generated relative to the coordinates of the target. Control commands are generated by coordinates of the missile relative to the target coordinates.

EFFECT: increased accuracy of a control system due to generation of missile control commands by coordinates of a missile relative to a target and exclusion of a gunlayer from a missile homing process.

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Description

The proposed guided missile guidance method and guidance system for its implementation relate to the development of missile control systems and can be used in anti-tank missile systems (ATGMs).

A known method of controlling a missile [RF Patent No. 2103713 from 01/27/1998 MKI 6 G05В 11/01, G01S 13/68 (analogue)] [1], which consists in the fact that the coordinates of the target and missiles are allocated, determine the magnitude of the error, proportional the difference between the input coordinate of the target and the coordinate of the rocket form missile control commands in accordance with the magnitude of the error.

The control system for implementing the specified method comprises serially connected receiving devices of the target and missiles, a device for generating control commands, a telecontrol device, and a normal overload control system.

Receiving devices include a direction finder, a control unit, an actuator, a rotation angle sensor, a platform, and are direction finders with a limited field of view designed to determine the coordinates of a target and a rocket and are made according to a known pattern [1].

The disadvantages of these technical solutions are the complexity and large overall dimensions of the structure, as well as the high cost of its implementation.

Closest to the proposed is a method of pointing an anti-tank missile described in the patent description [RF Patent 2258887 from 08/20/2005. MKI 7 F41G 7/00 (prototype)] [2], including launching a guided missile with an onboard radiation source, receiving a light flux from an onboard radiation source of a guided missile with a matrix-type photodetector, determining the space illuminated by the onboard radiation source and its center coordinates relative to the center cell of the photodetector matrix type, determining the coordinates of the guided missile and the formation of control commands relative to the line of sight of the target, while in the process of pointing the gunner holds the target in the center of the field of view of the rocket’s photodetector, and the coordinates of the guided missile are extracted using the generated sequence of video frames of the phono-target environment together with the onboard radiation source.

Closest to the proposed is a guidance system for implementing the method [2], selected as a prototype and containing a series-connected lens, a photodetector (forming a television system), a block for highlighting the illuminated space, a unit for calculating the center of the illuminated space relative to the central cell of the matrix type photodetector, block allocation of coordinates and the unit for the formation of teams.

The disadvantage of these technical solutions is the low accuracy determined by the nature of the movement of the target.

Current conditions for the use of anti-tank missiles have required the creation of a guided missile guidance method and guidance system for its implementation, which would overcome a number of technical difficulties. For example, the accuracy of the guidance system is determined by the nature of the target’s movement and, to a large extent, by the ability of the gunner to keep it in the center of the field of view of the rocket’s photodetector.

The objective of the invention is to develop such a guided missile guidance method and guidance system for its implementation that would improve the quality of the guided missile guidance process without changing the design of the missile itself, generate missile control teams according to the coordinates of the missile relative to the target, and, as a result, increase the accuracy of the whole control systems with a complex and high-speed character of the movement of the target.

The problem is solved in that in the guided missile guidance method, which includes launching a guided missile with an onboard radiation source, receiving a light flux from an onboard radiation source of a guided missile by a television system, forming a sequence of video frames of the phono-target environment together with an image of the onboard radiation source and target, determining the illuminated onboard radiation source of space and the coordinates of its center, determining the coordinates of a guided missile and forming command on each frame within the field of view of the rocket’s photodetector, using the additionally formed sequence of video frames or the current sequence of video frames, the area of the target image space is determined, the coordinates of the center of the selected target area are calculated, the coordinates of the rocket are formed relative to the coordinates of the target, and control commands are generated according to the coordinates of the rocket relative to coordinates of the target.

The problem is also solved by the fact that the guided missile guidance system comprising a television system connected in series, a first space allocation unit, a first center allocation unit, a coordinate allocation unit, and a command generation unit is provided with a second space allocation unit connected in series with the input to the second output of the television system, and the second block calculating the center of the allocated space, the output of which is connected to the second input of the block allocation coordinates.

In the proposed guided missile guidance system, the television system contains the first and second lenses, as well as the first and second matrix-type photodetectors, the input of which receives light fluxes from the first and second lenses, respectively, and the outputs of the photodetector arrays are the first and second outputs of the television system.

In the proposed guided missile guidance system, the television system comprises a matrix-type lens and a photodetector, the input of which receives the light flux from the lens, and the photodetector matrix output is the first and second outputs of the television system.

The essence of the method is as follows. After the rocket is launched, the radiation of the phono-target environment together with the radiation of the onboard radiation source of the guided missile falls on the entrance pupil of the lens and focuses on the sensitive cells of the matrix-type photodetector, which forms a sequence of video frames with the image of the phono-target environment and the onboard radiation source of the guided missile. When a video frame is formed, a signal is taken from each sensitive cell of a matrix-type photodetector, the level of which is proportional to the energy of the radiation incident on it. Since the signal level from the onboard radiation source of the guided missile is in the known range and exceeds the background signal, an image of the onboard radiation source is formed on a matrix-type photodetector at a level with the expected signal level on the sensitive cells. When interrogating the space of a photodetector of a matrix type illuminated by an onboard radiation source, the center of the illuminated space is determined, the number of the sensitive cell, which is the center of the illuminated space by the onboard radiation source, is determined. The coordinates of the location of the central cell of the illuminated space of the rocket relative to the central cell of the photodetector matrix type are determined. Within the field of view of the rocket’s photodetector, the target space and the number of the sensitive cell, which is the center of the target’s image space, are determined by geometric relationships or values of the correlation function. The target image space can be determined both by the current sequence of video images, and by the sequence of video frames formed using an additional lens and a photodetector of a matrix type. The use of an additional video channel is advisable for spectral determination of images of a rocket and a target, but requires calibration and alignment. The coordinates of the central cell of the target space relative to the central cell of the photodetector matrix type are determined. Next, the coordinates of the central cell of the illuminated space of the rocket relative to the central cell of the target space are determined. After determining the coordinates of the central cell of the illuminated space of the rocket relative to the central cell of the target space, the coordinates of the guided missile relative to the coordinates of the target are calculated and control commands of the rocket relative to the target are formed.

In the claimed technical solutions, it is proposed to improve the quality of the guided missile guidance process without changing the design of the missile itself, to control the missile according to the coordinates of the missile relative to the target and, as a result, improve the accuracy of the entire control system by taking into account the nature of the target’s movement in missile control teams and practically eliminate the gunner from the missile guidance process.

Functional diagram of the guided missile guidance system is shown in figure 1 - figure 3.

Guided missile guidance system operates as follows. The input for it is the angular deviation of the rocket relative to the line of sight of the target. The radiation source of the rocket provides a radiation flux during the entire flight time of the guided missile. The lens 10 focuses the image of the radiation source directly on the matrix-type photodetector 12, which is mounted in the focal plane of the lens 10, with its central sensitive cell located on the optical axis of the lens 10. The lens 10 and the photodetector 12 form a television system 1. The light flux from the radiation source provides illumination a certain area of the photodetector matrix type. Determining the location of the image of the onboard source in this area is assigned to the highlighted space extraction unit 2, which not only determines the size of the area of the photodetector illuminated by the radiation source, but also provides information on the number and coordinates of the illuminated sensitive cells, as well as their signal levels. This information goes to the calculation unit of the center of the illuminated space 4, which provides the processing of signals directly from those sensitive cells that were illuminated by the radiation source. Blocks 2 and 4 form an automatic tracking machine 8. The output signal from the block center calculation unit of the illuminated space 4 contains information about the linear deviations of the radiation source relative to the aiming line, which enters the coordinate allocation unit 6. The target space allocation unit 3 determines the location of the target image from information from sensitive cells of the photodetector matrix type 12, generates information about the number and coordinates of cells included in the target area, and transmits this information to the center calculation unit of the fifth space 5. Blocks 3 and 5 form a pointing machine 9. There is also an option of additional implementation in the television system 1 of the second lens 11 focusing the phono-target environment on the second photodetector matrix type 13, which is installed in the focal plane of the lens 11, and its central sensitive cell is on the optical axis of the lens 11 of the matrix-type photodetector 13. In this case, the target space allocation unit 3 determines the location of the target image from the information from the sensitive cells phot the receiver of the matrix type 13. The output signal from the calculation unit of the center of the allocated space 5 contains information about the linear deviations of the target relative to the aiming line, which also enters the coordinate allocation unit 6. After conversion, the coordinate allocation unit 6 generates signals corresponding to the linear deviations of the guided missile relative to the target. Signals proportional to the deviation of the guided missile relative to the target along the course and pitch are transmitted from the output of the coordinate allocation unit to the command formation unit 7, where they are converted into missile control commands intended for transmission over the communication line to the guided missile.

In the proposed guided missile guidance system, lenses 10, 11, matrix-type photodetectors 12, 13, space allocation units 2, 3, calculation units for the center of the allocated space 4, 5, coordinate allocation unit 6, command generation unit 7 can be performed as in the prototype. The matrix type photodetector can be made on the basis of a high-frequency CCD matrix [3]. The block for highlighting the illuminated space, the block for calculating the center of the allocated space, the block for allocating coordinates, the unit for generating commands can be performed on the basis of signal microprocessors [4] and programmable logic integrated circuits [5].

Justify the operation of the guidance system as follows.

Block highlighted space 2 defines the area of illumination. The evaluation criterion is the ratio:

$$U{8}_{ij}-U{p}_{\mathrm{ABOUT}P}>U{p}_e,\left(\mathrm{one}\right)$$

where U8 _ij is the input signal from the cell of the photodetector matrix type 12; i - line number, j - column number: Up _OP - reference signal that determines the acceptable value of the level of signal perception by a photodetector of matrix type 12; due to the energy of the onboard radiation source of the guided missile: Up _e is the signal level determined by internal noise and the discreteness of the photodetector matrix type 12.

In the block for highlighting the illuminated space 2, the number of MPs, the coordinates npy _i , npz _{i of the} cells of the photodetector matrix type 12, which fall into the illumination region, as well as their output signal levels sp _i , are determined.

In the unit for calculating the center of the illuminated space 4, the coordinates of the geometric center of the illuminated space are determined, the central cell of the space illuminated by the on-board radiation source relative to the central cell of the matrix type 12 photodetector is also determined:

$$\Delta Y{p}_{\mathrm{AND}}=\left(\frac{\left(M{p}_y+\mathrm{one}\right)}{2}-int\frac{{\displaystyle \sum _{i-\mathrm{one}}^{Mp}np{y}_i}}{Mp}\right),(2)$$

$$\Delta Z{p}_{\mathrm{AND}}=\left(\frac{\left(M{p}_z+\mathrm{one}\right)}{2}-int\frac{{\displaystyle \sum _{i-\mathrm{one}}^{Mp}np{z}_i}}{Mp}\right),(3)$$

where Mr _y, Mr _z - the maximum number of cells vertically and horizontally in the photodetector matrix type 12.

In the unit for calculating the center of the illuminated space 4, the coordinates of the energy center of the illuminated space can also be determined, the central cell of the space illuminated by the on-board radiation source can be determined taking into account the levels of the output signals, and the offset of this cell relative to the central cell of the photodetector matrix type 12 can be determined:

$$\Delta Y{p}_{\mathrm{AND}}=\left(\frac{\left(M{p}_y+\mathrm{one}\right)}{2}-int\frac{{\displaystyle \sum _{i-\mathrm{one}}^{Mp}s{p}_i\cdot np{y}_i}}{{\displaystyle \sum _{i-\mathrm{one}}^{Mp}s{p}_i}}\right);(\mathrm{four})$$

$$\Delta Z{p}_{\mathrm{AND}}=\left(\frac{\left(M{p}_z+\mathrm{one}\right)}{2}-int\frac{{\displaystyle \sum _{i-\mathrm{one}}^{Mp}s{p}_i\cdot np{z}_i}}{{\displaystyle \sum _{i-\mathrm{one}}^{Mp}s{p}_i}}\right).(5)$$

The use of dependences (4), (5) is advisable, as a rule, in the control section, when the region of the illuminated space from the onboard radiation source has significant dimensions.

For the implementation of the television system 1 using a lens 10, 11 and a photodetector 12, 13 to evaluate the image area of the target, we have the following.

In the space allocation unit 3, the number of Ms is determined, the coordinates ncy _i , ncz _i of the matrix type 13 photodetector cells that have fallen into the target area, as well as their output signal levels sc _i . As criteria for highlighting the target area, the geometric proportions of the target or the calculated values of the correlation functions can be used [6].

The current frame is divided into blocks of the same size, and for each block, the best match in the previous frame is calculated. As a measure of compliance, use the value of the cross-correlation function or the sum of the modules of the difference in brightness of the pixels within the block:

$$D={\displaystyle \sum _i^m{\displaystyle \sum _j^n\left|L\left(x_j,y_j,k\right)-L\left(x_j,y_j,k\right)\right|(6)}}$$

where L (x, y, k) is the brightness of the elements with x and y coordinates in the frame with number k: m, n is the number of pixels in the block.

In the calculation unit of the center of the illuminated space 5, the coordinates of the geometric center of the space are determined, the central cell of the target space relative to the central cell of the matrix type 13 detector is also determined:

$$\Delta Y{c}_{\mathrm{AND}}=\left(\frac{\left(M{c}_y+\mathrm{one}\right)}{2}-int\frac{{\displaystyle \sum _{i-\mathrm{one}}^{Mc}nc{y}_i}}{Mc}\right);(7)$$

$$\Delta Z{c}_{\mathrm{AND}}=\left(\frac{\left(M{c}_z+\mathrm{one}\right)}{2}-int\frac{{\displaystyle \sum _{i-\mathrm{one}}^{Mc}nc{z}_i}}{Mc}\right),(8)$$

where Mc _Y , Mc _Z is the maximum number of cells vertically and horizontally in a matrix type photodetector 13.

In the unit for calculating the center of the illuminated space 4, the coordinates of the energy center of the target space can also be determined, the central cell of the target space can be determined taking into account the levels of the output signals, and the offset of this cell relative to the central cell of the photodetector matrix type 13 can be determined:

$$\Delta Y{c}_{\mathrm{AND}}=\left(\frac{\left(M{c}_y+\mathrm{one}\right)}{2}-int\frac{{\displaystyle \sum _{i-\mathrm{one}}^{Mc}s{c}_i\cdot nc{y}_i}}{{\displaystyle \sum _{i-\mathrm{one}}^{Mc}s{c}_i}}\right);(9)$$

$$\Delta Z{c}_{\mathrm{AND}}=\left(\frac{\left(M{c}_z+\mathrm{one}\right)}{2}-int\frac{{\displaystyle \sum _{i-\mathrm{one}}^{Mc}s{c}_i\cdot nc{z}_i}}{{\displaystyle \sum _{i-\mathrm{one}}^{Mc}s{c}_i}}\right).(\mathrm{one}0)$$

The use of dependencies (7), (8) is advisable, as a rule, in the area when the target space region has significant dimensions.

For the case of the implementation of the television system 1 using the lens 8 and the photodetector 12 in the dependencies (7), (8) or (9), (10) instead of the data from the cells of the photodetector 13, data from the cells of the photodetector 12 are used. Mc _Y = Mp _Y , Mc _Z = Mp _z .

When implementing a television system 1 using a lens 10, 11 and a photodetector 12, 13, the linear coordinates of the onboard radiation source relative to the target are determined from (2), (3) or (4), (5) and from (7), (8) or (9), (10):

where fc ^/ is the focal length of the lens 9; δc _f is the cell size of the photodetector matrix type 13.

When implementing a television system 1 using a lens 10 and a photodetector 12, the linear coordinates of the onboard radiation source relative to the target are determined from (2), (3) or (4), (5) and from (7), (8) or (9) , (10):

$$\Delta Ypc=(\frac{\Delta Y{c}_{\mathrm{AND}}-\Delta Y{p}_{\mathrm{AND}}}{f{p}^{/}}\cdot \delta p_f)\cdot Dp;(\mathrm{one}3)$$

$$\Delta Zpc=(\frac{\Delta Z{c}_{\mathrm{AND}}-\Delta Z{p}_{\mathrm{AND}}}{f{p}^{/}}\cdot \delta p_f)\cdot Dp.(\mathrm{one}\mathrm{four})$$

An analysis of formulas (1) - (14) shows that the quality of the guided missile guidance process improves without changing the design of the missile itself and, as a result, the accuracy of the entire control system increases with the complex and high-speed character of the target’s movement due to the formation of missile control teams taking into account the target’s coordinates . In this case, the search for the target image and the calculation of its coordinates can be carried out on each frame within the field of view of the photodetector of the rocket, both by the additionally generated and the current sequence of video frames.

Thus, the proposed guided missile guidance method and guidance system for its implementation provide improved quality of the guided missile guidance process without changing the design of the missile itself and, as a result, improved accuracy of the entire control system by forming missile control teams taking into account the nature of the target’s movement and practically eliminate gunner from the missile guidance process.

Therefore, the use of new elements connected in sequence in accordance with figure 1-3 with the indicated dynamic characteristics, certain ratios (1) ... (14), in the proposed guided missile guidance method and guidance system for its implementation compares favorably with the proposed technical solution from the prototype , as it provides increased accuracy of the entire control system.

Information sources

1. The control method and control system for its implementation. Ponyatsky V.M., Tkachenko Yu.N., Shipunov A.G. (Russia). Patent N 2103713 from 01/27/1998, Russia. MKI6 G05B 11/01, G01S 13/68.

2. Guided missile guidance method and guidance system for its implementation. Shipunov A.G., Stepanichev I.V., Pogorelsky S.L., Galante A.I., Paltsev M.V., Ponyatsky V.M., Chinarev A.V., Karamov S.V., Tikmenov V .N. (Russia) Patent 2258887 dated 08/26/2005. MKI 7, F41G 7/00 (prototype).

3. Devices with charge coupling / Ed. M. Howes and D. Morgan: Trans. from English - M.: Energoizdat. 1981. - 376 p.

4. User Guide for signal microprocessors ADSP-2100 / Per. from English O.V. Luneva: Ed. A.D. Viktorova: St. Petersburg State Electrotechnical University. - St. Petersburg. 1997 .-- 520 p.

5. V. B. Steshenko. FPGA company "ALTERA": Design of signal processing devices. / M .: "Dodeka", 2000

6. Lukyanitsa A.A., Shishkin A.G. Digital video processing. - M .: "IS-ES." 2009. - p. 63-111.

Claims (4)

1. A guided missile guidance method, including launching a guided missile with an onboard radiation source, receiving a light flux from an onboard radiation source of a guided missile by a television system, generating a sequence of video frames of the phono-target environment together with an image of the onboard radiation source and target, determining the space and coordinates illuminated by the onboard radiation source its center, determining the coordinates of a guided missile and the formation of control commands, characterized in that for each m frame within the field of view of the rocket photodetector, using the additionally formed sequence of video frames or the current sequence of video frames, determine the area of the target image space, calculate the coordinates of the center of the selected target area, form the coordinates of the rocket relative to the coordinates of the target, and generate control commands by the coordinates of the rocket relative to the coordinates of the target. 2. Guided missile guidance system comprising a television system in series, a first space allocation unit, a first center allocation unit, a coordinate allocation unit, and a command generation unit, characterized in that it is provided with a second space allocation unit connected in series with the input to the second output of the television system, and the second unit for calculating the center of the allocated space, the output of which is connected to the second input of the coordinate allocation unit. 3. The system according to claim 2, characterized in that the television system includes the first and second lenses, as well as the first and second photodetectors of a matrix type, the input of which receives light fluxes from the first and second lenses, respectively, and the outputs of the photodetector arrays are the first and second TV system outputs. 4. The system according to claim 2, characterized in that the television system includes a lens and a photodetector matrix type, the input of which receives the light flux from the lens, and the output of the photodetector matrix is the first and second outputs of the television system.

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