Method of inertial auto-tracking of specified object of viewing and system for its implementation

FIELD: instrument engineering.

SUBSTANCE: during the final preparation for launch mobile carrier, the signals are defined and set proportional to the initial coordinates on the slant range, on the angle of slope, on the azimuth of mutual position of the mobile carrier and originally specified object of viewing (OV) relative to the base of the integrated antenna device in the coordinate system connected to the center of mass of the mobile carrier. At that the operational signals are made in the form of a package of consecutive words that are proportional to the parameters of initial setting of the inertial measurement of parameters of viewing vector of the set OV in the local horizontal coordinate system. These signals convert the parallel form and the signals are formed according to them, proportional to the initial conditions of the setting of inertial direction finding of the set OV in the base antenna coordinate system.

EFFECT: increased accuracy.

2 cl, 8 dwg

 

The present invention relates to systems for automatic tracking of a given object of sight (OB), and homing systems of mobile media with the inertial measurement system containing the device with the changing orientation of the directivity of an antenna reflector, namely, rotary-sensitive device, based on the use of ironicially sensor signals of the spatial displacement of the rolling media.

The proposed technical solutions are designed for the automatic tracking of a given OB in distance and direction, characterized by the parameters of the inertial direction finding given OB in two mutually perpendicular planes of his finding in the base of the antenna coordinate system moving rolling media and its convergence with the given OB.

The proposed technical solutions can be applied:

in Autonomous systems (inertial) homing mobile carriers on a given OB;

- integrated complexioned onboard systems homing (BSSN) in the structure of control systems and stabilization of mobile media.

When creating such systems, an important task is ensuring high

- accuracy inertial auto-tracking of a given OB on Autonomous trajectory homing rolling the nose of the body, as well as the accuracy and noise immunity radar automatic tracking OB;

- tactical-technical characteristics of the integrated complexioned BSSN mobile media.

Known, for example, the following methods of signal direction finding device, which administers described in the book Vmortha "Tracking system radar automatic tracking and management." - ed. Shipbuilding: L; 1968 - p.12-35, which covers:

- the tracking system radar automatic tracking direction with conical scanning pattern;

- the tracking system radar auto-tracking in the direction of the monopulse type;

- the tracking system radar automatic auto-tracking range;

observing systems in the radio communication lines and systems, homing;

tracking systems in radioteleviziunii.

Also known by the following technical solutions:

1. Tracking device (JP 3627135 B2 7 G01S 13/66, 09.03.2005), which contains the unit 5 for determining the separation of target tracking by measuring the magnitude of the vector Ck,j; block 6 control parameters of the tracking filter according to the results of block 5; block 2 smoothing to obtain the vector Bk(+) and the covariant matrix of Pk(+) Osh is the KJV smoothing; unit 3 prediction to obtain the vector Bk(-) and the covariant matrix of Pk(-) prediction error; block 4 for the calculation of boundary maintenance".

2. A processor for processing information about target tracking (JP 3653216 B2 7 G01S 13/66, 25.05.2005), in which the processor 1 contains one unit of 3 to predict the time data maintenance; unit 4 decision-making in real-time, decision-makers about tracking the targets in a specified time determined by the block 3; block 5 for temporary storage of information about the observed target; unit 6 that controls the flow of information about the observed target in the CPU 1".

3. Witness coordinator goals (EN 2042101 C1 6F41G 7/00, 1995.08.20) provides a more accurate measurement of the angular velocity of rotation of the vector distance of the object to the target and simultaneously increases the range of radio and optical channel signal is received from the target, and is sensitive to signals from the target elements of these channels are mounted on the inner frame gyro-stabilized platform; the units of analysis provide the connection of the outputs of these channels to the input of the power amplifier, the outputs of which are connected with the torque sensor gyro-stabilized platform, the outer frame which is installed in the plug installed in the body of the object with the possibility of the treatment around the longitudinal axis of the object.

4. The method of pointing the aircraft at the target (EN 2204785 C2 7 F41G 7/20 2001.01.15), in which "pre-in calculator (In) fixed control unit (NPU) relative to the Earth enter values in the geographical coordinates (GC) and height above sea level (VUM) location NPI. Pre NPU on the aircraft (LA) transmit by radio link (RL) values GK and WOM location NPI. In the process guidance to NHRIs irradiated aerial target (vacc), NPI receive radiation reflected from the EC, and the processing of the received radiation is measured is the distance from the NPU to the EC and the values of the elevation and azimuth directions with NPI on CC. The measured values enter in NPI and calculate the increment Ledger and WOM location CC relative to the location of NPS, as well as the values of the velocity change these General Ledger and WOM injected accepted and measured values are in LA, calculate values of navigation errors (HE) LA on CC that match a given method of observation (MN), and generate control actions that change the trajectory of LA so that to eliminate IT LA on CC with a given MN."

5. Method guidance of aircraft on the ground (EN 2229671 C1 7 F41G 7/22, 2003.03.05), which measure the speed of the aircraft (LA), distance to ground of the object, the angle between the direction of the velocity vector of LA and n is the Board on the given object, as well as the lateral acceleration LA in the horizontal plane. Form the control signal horizontal plane when implementing proportional guidance on moving in the horizontal plane of the virtual moving ground object. The initial position and motion parameters of the latter are set on the basis of conditions provide the required crooked linear trajectory guidance LA real ground object using airborne radars using synthetic aperture antenna, or Doppler oburzenie beam pattern of the antenna."

6. The method of measuring the angular coordinates of the object and the radar for its implementation (RU2291466 C1 26.05.2005), which emit the excitation signals, generate the reception and detection of the reflected from the object signals, provide measurements of the levels of received signals and the measurement of the angular coordinate of the beam, the respective received signals form the two-dimensional angular packets received signals, perform analysis of two-dimensional angular packet received signals on the basis of which to calculate the angular coordinates of the object.

Reviewed technical solutions based on radar contact with OB, generate signals direction finding OB on the basis of processing the received radar signals received in d is the query result of reflection from OB irradiated excitation signals. The selection signal direction finding OB cannot be carried out in the absence of radar contact with OB.

Thus, none of the analogues is not the closest to the technical nature and cannot be taken as a prototype of the proposed technical solutions.

The purpose of the proposed technical solutions (method and system for its implementation) is providing inertial auto-tracking of a given OB with high accuracy on a stand-alone inertial trajectory homing movable carrier for a given OB, as well as increased accuracy and noise immunity radar automatic tracking OB.

The invention consists in the fact that the proposed method during prelaunch preparations for the start of the rolling media define and impose the signals proportional to the initial values of slant range L0, angleazimuththe mutual position of the moving carrier and initially given OB. In the apparatus for the preparation and management start rolling media, which is external to the claimed invention, form a regular signals in the form of package serial data word that contains the initial knowledge is possible:

- bearings, i.e. angle ofand azimuthgiven OB relative to the base of the antenna device, rigidly installed inside the housing of the rolling media, associated with the center of mass of the rolling carrier coordinate system Ox1y1z1(figure 4);

- slant range L0to the specified OB and the inclined speedrapprochement with the specified OB the base of the antenna device with a movable carrier in the start position (figure 1);

- yaw Ψ0pitch ϑ0and roll γ0rolling media together with the base of an antenna device (figure 5)and the initial conditions of the exhibition inertial direction finding given OB, i.e. regular signals proportional to initial values;

- projections of,,vectorlinear speed start motion of the base of the antenna device with a movable carrier on the respective axes of the local horizontal coordinate system Aboutξηζ, (1, 3);

- Cartesian coordinates ξ0(D0), η0(H0), ζ0rolling media in places the th horizontal coordinate system About ξηζ(figure 1);

- longitude λ0and latituderolling media (figure 1) and, additionally, the signals proportional to the required operating parameters of range, the control word and command word.

Next check the generated signals in the form of a packet of serial data words in the absence of distortions. After this, the signals characterizing a packet of serial data words, on Board of rolling carrier is converted into parallel form for providing a signal inertial direction finding given OB. Then on Board of rolling media convert signals proportional to the initial conditions of the exhibition inertial measurement unit vector vising specified in OB signals proportional to initial values:

- projections,,vectorlinear speed start moving the base of the antenna device with a movable carrier for the corresponding axis base antenna coordinate system Oxyz (figure 1, figure 2), located on the starting device of the mobile platform;

- anglesandthe sight of given the th OB respectively in the horizontal and in the vertical plane in the local horizontal coordinate system About ξηζ(figure 1, figure 3);

- components,the three-dimensional angular coordinatesgiven OB, i.e. parameters of the inertial direction finding in two mutually perpendicular planes of his finding in the base of the antenna coordinate system Oxyz (figure 1, figure 2), which characterize the signals a mismatch between the direction of the optical axis of the mirror antenna device and the direction is not specified OB in the respective planes of direction finding;

- guides of the cosines ofwhere i, j=1,2,3, which determine the initial mutual position of the base of the antenna coordinate system Oxyz and supporting a geocentric coordinate system ξ0η0ζ0associated one axis ζ0.with the given OB, located on the earth's surface (figure 1).

At the time of the start of the rolling media update signals the initial determination and setting coordinates of a given OB and signals the start of the exhibition inertial measurement vector of sight of a given OB (i.e. signals initial information) cease and during the beginning of its movement along the trajectory together with the base integrated antenna device simultaneously measure signals proportional to the projections ,,vectorthe apparent linear acceleration motion and projections,,vectorthe absolute angular velocity of rotation of the mirror integrated antenna device to the corresponding axes of the coordinate system OxCyCzCassociated with mirror integrated device.

These measured signals of the linear dependence of the turning line (vector) the sight of the specified OB tilt and azimuth from the rotation of the mirror antenna device, respectively, the tilt angle and azimuth, i.e. taking into account the so-called variable electric reduction, determine the signals proportional to the projections of the nxnynzvectorthe apparent linear acceleration motion and projections ωx, ωy, ωzvectorthe absolute angular velocity of rotation of the vector of sight of a given OB on the appropriate axis of the base of the antenna coordinate system Oxyz. Next, form of received signals with respect to the signals defined and installed during prelaunch rolling media, signals, proportion the global current parameter values vector of sight of a given OB, characterized by:

- projections of VxVyVzvectorlinear speed of convergence with the specified OB the Foundation of the integrated antenna device with a movable carrier on the axis of the base antenna coordinate system;

- slant range L and the inclined speedrapprochement with the specified OB the Foundation of the integrated antenna device with a movable carrier;

- mismatch ΔL between the specified start value for the slant range L0to the specified OB and the current value of slant range L rapprochement with the specified OB base integrated device with a movable carrier;

signals e1e2inertial direction finding given OB in two mutually perpendicular planes of direction finding in the base of the antenna coordinate system Oxyz;

- directing cosines βijwhere i, j=1,2,3, the reciprocal of the current angular position of the base of the antenna coordinate system Oxyz and supporting a geocentric coordinate system ξ0η0ζ0associated one axis ζ0with the given OB, located on the earth's surface.

According to the obtained signal is proportional to the mismatch ΔL between the specified start value for the slant range L0to a specified Ovi current value of the slant range L rapprochement with the specified OB the Foundation of the integrated antenna device with a movable carrier, perform inertial tracking of a given OB in range.

The received signals are proportional to the e1e2, inertial direction finding given OB in two mutually perpendicular planes of direction finding in the base of the antenna coordinate system, transform by integrating closed-loop inertial auto-tracking of a given OB direction control signals respectively proportional to the speeds ofandchange the viewing angles of a given OB determining the current direction of sight for a given OB in the horizontal and in the vertical plane resulting from the movement of the Foundation of the integrated antenna device with a movable carrier in the direction of a given OB.

To do this, these control signals affect the appropriate sensors moment managed threefold gyroscope installed in the internal biaxial Kardanov suspension integrated antenna device, the outer and inner frame pivotally connected with his mirror (Fig.7, Fig). Under the action of these control signals create perturbing the control points, causing moments of gyroscopic reactions in the supports axes prosessimaarittelya framework triaxial Kardanov suspension of the gyroscope rotor. According to precession theory of gyro precession occurs a deviation of the relevant part of triaxial Kardanov suspension of the gyroscope rotor angular velocity, similar in magnitude to the angular velocityandchanges of the respective viewing angles given OB. Simultaneously detect signals proportional to the misalignment between the direction of the angular momentum of the gyroscope rotor and direction at a given OB-generated signals, proportional to the velocityandchange the viewing angles of a given OB in the horizontal and in the vertical plane and respectively vozmushchaemym control points. These signals are converted into signals of the motor control rotation of the respective frames of the biaxial Kardanov suspension integrated antenna device. The control signals to the electric motors develop turning points equal to and coincident in direction with the direction corresponding perturbing the control points, to rotate the inner and outer part of the biaxial Kardanov suspension integrated antenna device and pivotally associated with the mirror current healthy lifestyles is of the specified OB, thereby completing the circuit of the inertial automatic tracking of a given OB and determine the signals proportional spent the values of the angle of inclinationand azimuthgiven OB relative to the base integrated antenna device in the coordinate system connected with the center of mass of the rolling media.

The invention consists also in the fact that the system performing the method, characterized in that it consists of a narrowband loop inertial auto-tracking and broadband circuit gyrostabilization. management and direction of sight of a given OB (6), contains inertial discriminator (6) signal direction finding given OB in two mutually perpendicular planes of direction finding in the base of the antenna coordinate system Oxyz (figure 1, figure 2), which includes a digital computing device (CWU) and the integrated antenna device (AIO) (Fig.6, Fig.7). AIO contains a mirror with feed and waveguide-switching device (ICD), biaxial gimbal, the axis of rotation of the outer frame which is mounted on a base AIO, and the axis of rotation of the inner frame is installed in the outer frame and is perpendicular to the axis of rotation, the motor rotation of the outer frame biaxial Kardanov Podesi motor rotation internal frame biaxial Kardanov suspension. AIO contains the sensor signal of the rotation angle of the outer frame biaxial Kardanov suspension, the sensor signal of the rotation angle of the inner frame biaxial Kardanov suspension respectively by the angle of inclination and azimuth, as well as managed the threefold gyroscope, dual gyroscopic angular rate sensor (DOS), three-component accelerometer (Fig.7, Fig). And managed threefold gyroscope installed in the inner frame biaxial Kardanov suspension AIO so that the direction of the angular momentumits rotor theretirement the position of the gyroscope coincides with the zero direction of sight line of AIO. Gyro contains a three-axis gimbal rotor, the sensor signal of the angle of precession of the inner frame triaxial Kardanov suspension rotor and gyro sensor signal angle of precession of the outer frame triaxial Kardanov suspension of the gyroscope rotor, the sensor signal torque control the direction of rotation of the inner frame triaxial Kardanov suspension of the gyroscope rotor, the sensor signal torque control the direction of rotation of the outer frame triaxial Kardanov suspension of the gyroscope rotor. Thus the axis of proper rotation of the gyroscope rotor mounted in the inner frame triaxial Kardanov suspension of the rotor of the gyroscope, the axis of rotation which set the go in an outer frame triaxial Kardanov suspension of the gyroscope rotor, the axis of rotation which, in turn, is installed in the housing of the gyroscope. The casing of the gyroscope rigidly mounted in the inner frame triaxial Kardanov suspension AIO. On the respective axis of rotation under triaxial Kardanov suspension of the rotor of the gyroscope is set accordingly, the sensor signals of the angle of precession of the inner frame and outer frame triaxial Kardanov suspension of the gyroscope rotor. AIO also includes electronic site gyrostabilization and control the direction of the mirror AIO on OB angle, e node gyrostabilization and control the direction of the mirror AIO on OB in azimuth, as well as the amplifiers feedback signals in the respective channels channel gyro sensor for measuring the vector components of the absolute angular velocity of rotation of the mirror AIO. Dual gyroscopic angular rate sensor (DOS) (Fig.7, Fig) installed in the inner frame biaxial Kardanov suspension AIO so that theretirement position one of its axes of sensitivity coincides with the direction of the line of sight AIO, and the other its axis of sensitivity oriented, for example, up along the positive direction of the axis of rotation of the inner frame biaxial Kardanov suspension AIO. When the direction of the angular momentumRoto is and gyroscopic DOS coincides with the positive direction of the axis of rotation of the outer frame biaxial Kardanov suspension AIO. All three accelerometers that measure respectively the projection of the vector of apparent linear acceleration, installed in the inner frame biaxial Kardanov suspension AIO so that the axis of sensitivity of one of them are mutually orthogonal with respect to mutually orthogonal axes of sensitivity of the other two-component accelerometers that measure the corresponding projection of the apparent linear acceleration. Thus the axis of sensitivity of one of the three-component accelerometers matches in theretirement position with the zero position of the line of sight AIO. The outputs of the respective sensor signals of the angle of precession of the inner frame and outer frame triaxial Kardanov suspension of the gyroscope rotor is connected to the input of the corresponding nodes gyrostabilization and control the direction of the mirror AIO for a given OB tilt and azimuth, the outputs of which, in turn, connected respectively with the motors rotate the outer frame and inner frame biaxial Kardanov suspension AIO. Thus the outputs of the sensor signals of the angle of precession of the inner and outer frame triaxial Kardanov suspension rotor channel gyro REMOTE control is connected to the input of the respective amplifier feedback signal, the outputs of which are connected respectively with the sensor signals the moment in the morning and outer frame triaxial Kardanov suspension dual rotor gyroscopic DOS. Arcala made with the possibility of rotation in two mutually perpendicular planes using two-stage hinge relative to the center of the radiation irradiator, rigidly fixed on the basis of AIO. When this mirror is pivotally connected rods mechanical coordinator AIO respectively with the outer frame and the inner frame biaxial Kardanov suspension AIO so that the distance between each of the hinges on the rear surface and its center of rotation is equal to the distance between each of the hinges that are installed respectively on the outer frame and the inner frame biaxial Kardanov suspension AIO, and the center of rotation. AIO includes electronic site provide a control signal proportional asked the angular velocity of rotation of the mirror in a vertical plane, the electronic site provide a control signal proportional asked the angular velocity of rotation of the mirror in the horizontal plane, and, in addition, e-node scaling of the signal taken from the output e of the site provide a control signal to set the angular velocity of rotation of the mirror in a vertical plane, connected to the sensor input signal torque control the direction of rotation of the outer frame triaxial Kardanov suspension of the gyroscope rotor. PR is than the signal, remove from publication of an e-node scaling of the output signal e of the node forming the control signal of the angular velocity of rotation of the mirror in a vertical plane, is proportional to the projectionvector absolute angular velocity of rotation of the mirror AIO on the transverse axis Oz3coordinate system OxCyCzCassociated with the mirror. The output e of the site provide a control signal proportional asked angular velocity, rotate the mirror in a horizontal plane, is connected to the sensor input signal torque control the direction of rotation of the inner frame threefold Kardanov suspension of the gyroscope rotor.

The outputs of the three-component accelerometers are connected respectively with the first, second and third inputs of CVU. The dual outputs of the gyroscopic the VCS and the publication of an e-node scaling are connected respectively with the fourth, fifth and sixth inputs of CVU. The sensor output signal of the rotation angle of the outer frame and the sensor output signal of the rotation angle of the inner frame biaxial Kardanov suspension respectively the angle and azimuth are connected with the seventh and eighth inputs of CVU respectively. The first and second output CVU connected respectively to the input e of the node f is Mirovaya control signal, proportional asked angular velocityrotate the mirror in a vertical plane and with the input e of the site provide a control signal proportional asked angular velocityrotate the mirror in a horizontal plane. Information communication line connects the apparatus forming the array signals the coordinates of the initial determination and setting of the specified OB and primary exhibition (HB) inertial discriminator signal direction finding given OB, external to the inventive system inertial auto-tracking, information ninth input CWU. Information third output CVU connected to the information line, which comes in an array of signals required for generating signals homing movable carrier for a given OB, with equipment for generating signals to control a movable carrier, external to declare the inertial system the automatic tracking of a given OB.

The introduction of these features in a method and system for its implementation provides inertial tracking of a given OB signals the error in range and angular misalignment characterized by the parameters of the inertial direction finding given OB on the distance and direction of the Department in two mutually perpendicular planes of direction finding in the base of the antenna coordinate system moving along the trajectory of the rolling media and its convergence with the given OB. When it is provided to improve the accuracy of the inertial automatic tracking of a given OB on Autonomous trajectory homing rolling media, as well as the accuracy and noise immunity of location (particularly radar) auto-tracking OB, as well as improving performance characteristics of the integrated complexioned onboard systems homing.

The prior art has identified solutions that have the signs consistent with the distinctive features of the proposed technical solutions inertial auto-tracking of a given OB, building an integrated system of inertial auto-tracking of a given OB on inertial information discriminator signal direction finding given OB in two mutually perpendicular planes of direction finding in the base of the antenna coordinate system.

Therefore, the proposed technical solutions are consistent with the terms of inventive step.

The invention is illustrated by drawings, where:

- figure 1 - the adopted coordinate system;

- figure 2 - position of the vectorthe sight of the specified OB in the base of the antenna coordinate system Oxyz;

- figure 3 - relative position of the base of the antenna coordinate system Oxyz and the local horizontal coordinate system Aboutξηζ;

- figure 4 - saimoe the position of the base of the antenna coordinate system Oxyz and the associated coordinate system Ox 1y1z1;

- figure 5 - relative position associated with the center of mass of the rolling carrier coordinate system Ox1y1z1and the local horizontal coordinate system Aboutξηζ;

- figure 6 is a functional diagram of the proposed integrated system inertial auto-tracking of a given OB;

- figure 7 is a functional block diagram of the proposed integrated system inertial auto-tracking of a given OB;

on Fig - principal kinematic diagram of an integrated antenna device.

The proposed method is characterized by the fact that to provide inertial auto-tracking of a given OB direction and, therefore, the signal f1and e2inertial direction finding given OB in two mutually perpendicular planes of direction finding in the base of the antenna coordinate system Oxyz (figure 2), as well as for inertial auto-tracking of a given OB in range and, therefore, the signal proportional to the mismatch ΔL between the initial value of slant range L0to the specified OB and the current value of slant range L rapprochement with the specified OB the Foundation of the integrated antenna device with a movable carrier during prelaunch preparations for the start of the rolling carrier, adut signals, proportional to the initial values of slant range L0, angleand azimuththe mutual position of the carrier and initially given OB. In the apparatus for the preparation and management start rolling media, external to the claimed invention, form a regular signals in the form of a packet of a sequence of information words, which contains the initial values:

- bearings, i.e. angle ofand azimuthgiven OB relative to the base of the antenna device, rigidly installed inside the housing of the rolling media, associated with the center of mass of the rolling media in the coordinate system Ox1y1z1, (figure 4);

- slant range L0to the specified OB and the inclined speedrapprochement with the specified OB the base of the antenna device with a movable carrier in the start position (figure 1);

- yaw Ψ0pitch ϑ0and roll γ0rolling media together with the base of an antenna device (figure 5),

as well as the initial conditions of the exhibition inertial direction finding given OB, i.e. regular signals proportional to the initial values:

- projects is th ,,vectorlinear speed start motion of the base of the antenna device with a movable carrier on the corresponding axes of the local horizontal coordinate system Oxyz (Fig 1, Fig 3);

- Cartesian coordinates ξ0(D0), η0(H0), ζ0mobile media in the local horizontal coordinate system Aboutξηζ(figure 1);

- longitude λ0and latituderolling media (Fig 1)

and, in addition, signals proportional to the required operating parameters of range, the control word and command word.

Next, the generated signals in the form of a packet of serial data words are checked for absence of distortion. After this, the signals characterizing the package consecutive information words is converted into a parallel code for providing a signal inertial direction finding given OB. Then on Board of rolling media convert signals proportional to the initial conditions of the exhibition inertial direction finding given OB, signals proportional to the initial values:

- projections,,vector linear speed start moving the base of the antenna device with a movable carrier for the corresponding axis base antenna coordinate system (figure 1, figure 2);

- anglesandthe sight of the specified OB respectively in the horizontal and in the vertical plane in the local horizontal coordinate system Aboutξηζ(figure 1, figure 3);

- componentsandthe three-dimensional angular coordinatesgiven OB, i.e. parameters inereasing direction finding in two mutually perpendicular planes of his finding in the base of the antenna coordinate system Oxyz (figure 1, figure 2), which characterize the signals a mismatch between the direction of the optical axis of the mirror antenna device and direction at a given OB in the respective planes of direction finding;

- the guides of the cosines(where i, j=1,2,3), which determine the initial mutual position of the base of the antenna coordinate system Oxyz and supporting a geocentric coordinate system Aboutξηζassociated one axis ζ0with the given OB, located on the earth's surface (figure 1).

The formation of the above signals is carried out according to the following algorithm:

img src="http://img.russianpatents.com/1153/11539597-s.jpg" height="7" width="89" />

where ξ0max- the initial value of the horizontal Cartesian coordinates of the specified OB, i.e. the horizontal distance D0start rolling media;

where ζ0- the initial value of lateral Cartesian coordinates of the specified OB in the horizontal plane;

where r0- the initial value of the modulus of the radius vectorthe center of mass fixed carrier relative to the center of the Earth (Figure 1);

H00- the height of the start of the rolling media;

where L0- the initial value of the slant range to the specified OB in the pre-start position of the rolling media;

P0- the initial value of properiety vector of the triangle formed by the vectors,,;

where i, j=1, 2, 3;

In the moment of the start of the rolling media update signals initial information, stop after start during its movement along the trajectory detect signals proportional to the measured current values of the projections of,,vectorthe apparent linear acceleration motion and projections,,vectorthe absolute angular velocity of rotation of the vector of sight of a given OB on the corresponding axes of the coordinate system OxCyCzCassociated with mirror antenna device, where OxCoptical axis of the mirror. These measured signals, taking into account the functional dependence (i.e. a variable electric reduction) between the angles ofandrotation of the moving mirror and the rotation angles of the line (vector) of sight during the rotation of the mirror simultaneously in two mutually perpendicular PLO the bones angle and in azimuthwith respect to stationary exciter which is rigidly mounted on the base of the antenna devices that detect signals proportional to the projections of the nxnynzvectorthe apparent linear acceleration motion and projections ωx, ωy, ωzvectorthe absolute angular velocity of rotation of the vector of sight of a given OB on the appropriate axis of the base of the antenna coordinate system Oxyz, according to the following algorithm:

where:,the angles of rotation of the mirror antenna device according to the inclination and azimuth, respectively, relative to the base of the antenna device;

eHeAthe rotation angles of the line (vector) the sight of the specified OB tilt and azimuth, respectively, relative to the base of the antenna device in the associated antenna coordinate system (figure 4);

where

On the received signals, signals proportional to the nxnynzvectorand projections ωx, ωy, ωzvectoraccordingly, given the signals that are defined and installed during prelaunch rolling media, generate signals proportional to the current parameter values vector of sight of a given OB, characterized by:

the projections of VxVyVzvectorlinear speed of convergence with the specified OB the Foundation of the integrated antenna device with a movable carrier;

- slant range L and the inclined speedrapprochement with the specified OB the Foundation of the integrated antenna device with the moving media.

- mismatch ΔL between the specified start value for the slant range L0to the specified OB and the current value of slant range L rapprochement with the specified OB the Foundation of the integrated antenna device with a movable carrier;

- components of e1and e2the three-dimensional angular coordinates given OB in the base of the antenna coordinate system Oxyz, determining the inertial signals of finding a given OB in two mutually perpendicular planes of direction finding in this coordinate system.

- directing cosines βijwhere i, j=1, 2, 3, is the reciprocal of the current angular position of the base of the antenna coordinate system Oxyz and support the geocentric coordinate system ξ0η0ζ0associated one axis ζ0with the given OB, located on the earth's surface (figure 1), according to the following algorithm:

where i, j=1, 2, 3;

L0=Lmax- inclined range start rolling carrier to a given OB;

,,, L0,,,- the initial conditions of the exhibition inertial measurement vector of sight of a given OB in inertial discriminator signal direction finding given OB;

,,,,,, - the integrand, which are formed according to the following algorithm, which is a system of differential equations, written in vector form:

where for a fixed given OB R=const and, taking the angular velocity of the daily rotation of the earth Q=const

and

and

Thus, by implementing the above algorithms, generate a signal proportional to the mismatch ΔL determined from the system of equations (23) according to the algorithm:

between the received current value of the slant range L rapprochement with the specified OB and the initial value of slant range L0to the specified OB rolling carrier together with the base integrated antenna device, which perform inertial tracking of a given OB in range.

In addition, the received signals e1and e2inertial direction finding given OB in two mutually perpendicular planes of direction finding in the base of the antenna coordinate system Oxyz transform through their integration in a closed contraindicating the automatic tracking of a given OB direction control signals, proportional respectively speedandchange the viewing angles of a given OB determining the current direction of the vectorsight at a given OB in the horizontal and in the vertical plane, respectively, caused by movement of the base integrated antenna device with a movable carrier in the direction of a given OB.

To do this, these control signals affect the appropriate sensors moment managed threefold gyroscope installed in the inner frame biaxial Kardanov suspension integrated antenna device, the outer and inner frame pivotally connected with his mirror (Fig.7, Fig). Under the action of these control signals create perturbing the control points, causing moments of gyroscopic reactions in the supports of the axes of precession of the relevant part of triaxial Kardanov suspension of the gyroscope rotor. According to precessional theory of gyro precession occurs a deviation of the relevant part of triaxial Kardanov suspension of the gyroscope rotor angular velocity is close in magnitude to the angular velocityandchanges matched the existing viewing angles given OB. Simultaneously detect signals proportional to the misalignment between the direction of the kinetic moment of the rotor of the gyroscope and direction at a given OB-generated signals, proportional to the velocityandchange the viewing angles of a given OB in the horizontal and in the vertical plane and respectively perturbing the control points. These signals are converted into control signals for the motors rotate under biaxial Kardanov suspension integrated device. The control signals to the electric motors develop turning points equal to and coincident in direction with the direction of the respective disturbing moments, to rotate the inner and outer part of the biaxial Kardanov suspension integrated antenna device and pivotally associated with the mirror in the current direction at a given OB, thereby completing the circuit of the inertial automatic tracking of a given OB. At the same time determine exhaust signals proportional, respectively, the angleand azimuthgiven OB relative to the base integrated antenna device.

The system implementing the method consists of narrowband circuit 1 in rtualnogo auto-tracking and broadband loop 2 gyrostabilization and control the direction of sight of a given OB (6), contains inertial discriminator 3 (6) signal direction finding given. OB in two mutually perpendicular planes of direction finding in the base of the antenna coordinate system Oxyz (figure 1, figure 2), which includes in its. the digital computing device (CVU) 4 and the integrated antenna device (AIO) 5 (6, 7). AIO 5 contains the mirror 6 with the irradiator 7 and waveguide-switching device (ICD), biaxial gimbal 8, the axis 9 of rotation of the outer frame 10 which is mounted on a base 11 AIO 5, and the axis 12 of rotation of the inner frame 13 is installed in the outer frame 10 and is perpendicular to the axis 9 of rotation of the motor 14 to rotate the outer frame 10 biaxial Kardanov suspension 8 and the electric motor 15 to rotate the inner frame 13 biaxial Kardanov suspension 8. AIO 5 contains the sensor 16 signal angle of rotation of the outer frame 10 biaxial Kardanov suspension 8, the sensor 17 of the signal of the rotation angle of the inner frame 13 biaxial Kardanov suspension 8 respectively by the angle of inclination and azimuth, as well as managed the threefold gyro 18, dual gyro sensor 19 angular velocity (DOS), three-component accelerometer 20, 21, 22 (7, Fig). And managed threefold gyro 18 is installed in the inner frame 13 biaxial Kardanov suspension 8 AIO 5 so that the direction of the vector kineticheskoj the moment and its rotor 23 in theretirement the position of the gyroscope 18 coincides with the zero direction of sight line AIO 5. Gyro 18 contains a three-axis gimbal 24 of the rotor 23, the sensor 25 signal angle of precession of the inner frame 26 triaxial Kardanov suspension 24 of the rotor 23 of the gyro 18 and the sensor 27 of the signal of the angle of precession of the outer frame 28 triaxial Kardanov suspension 24 of the rotor 23 of the gyroscope 18, the sensor 29 signal torque control the direction of rotation of the inner frame 26 triaxial Kardanov suspension 24 of the rotor 23 of the gyroscope 18, the sensor 30 of the signal point control the direction of rotation of the outer frame 28 triaxial Kardanov suspension 24 of the rotor 23 of the gyro 18. While the axis 31 of the self-rotation of the rotor 23 of the gyroscope 18 is installed in the inner frame 26 triaxial Kardanov suspension 24 of the rotor 23 of the gyroscope 18, the axis 32 of rotation which is installed in the outer frame 28 triaxial Kardanov suspension 24 of the rotor 23 of the gyroscope 18, the axis 33 of rotation which, in turn, is installed in the housing of the gyro 18. The casing of the gyroscope 18 is rigidly fixed in the inner frame 13 triaxial Kardanov suspension 8 AIO 5. On the respective axes 32 and 33 rotate frames 26 and 28 triaxial Kardanov suspension 24 of the rotor 23 of the gyroscope 18 is set accordingly sensors 25 and 27 of the signals of the angle of precession of the inner frame 26 and the outer frame 28 triaxial Kardanov suspension 24 of the rotor 23 of the gyro 18. AIO 5 also includes an electronic node 34 gyrostabilization and control the direction of the mirrors is 6 AIO 5 in OB angle, e-the node 35 gyrostabilization and control the direction of the mirror 6 AIO 5 in OB in azimuth, as well as the amplifiers 36 and 37 of the feedback signals in the respective channels channel gyro sensor 19 measuring vector components of the absolute angular velocity of rotation of the mirror 6 AIO 5. Dual gyroscopic angular rate sensor (DOS) 19 (7, Fig) installed in the inner frame 13 biaxial Kardanov suspension 8 AIO 5 so that theretirement position one of its axes of sensitivity coincides with the direction of the line of sight AIO 5, and the other its axis of sensitivity oriented, for example, up along the positive direction of the axis 12 of rotation of the inner frame 13 biaxial Kardanov suspension 8 AIO 5. When the direction of the angular momentumrotor gyroscopic DOS 19 coincides with the positive direction of the axis 9 of rotation of the outer frame 10 biaxial Kardanov suspension 8 AIO 5. All three accelerometer 20, 21, 22, measuring respectively the projection of the vector of apparent linear acceleration, installed in the inner frame 13 biaxial Kardanov suspension 8 AIO 5 so that the axis of sensitivity of one of them are mutually orthogonal with respect to mutually orthogonal axes of sensitivity of the other two-component accelerometer is in, measuring the corresponding projection of the apparent linear acceleration. Thus the axis of sensitivity of one of the three-component accelerometers matches in theretirement position with the zero position of the line of sight AIO 5. The outputs of the respective sensors 25 and 27 of the signals of the angle of precession of the inner frame 26 and the outer frame 28 triaxial Kardanov suspension 24 of the rotor 23 of the gyroscope 18 is connected to the input of the corresponding nodes 35 and 34 gyrostabilization and control the direction of the mirror 6 AIO 5 in the set OB of the tilt angle and azimuth, the outputs of which, in turn, connected respectively with the motors 14 and 15 of rotation of the outer frame 10 and the inner frame 13 biaxial Kardanov suspension 8 AIO 5. Thus the outputs of the sensor signals of the angle of precession of the inner and outer frame triaxial Kardanov suspension rotor channel gyro REMOTE control 19 is connected to the input of the respective amplifiers 36 and 37 of the feedback signal, the outputs of which are connected respectively with the sensor signals the moment of inner and outer frame triaxial Kardanov suspension rotor channel gyro REMOTE control 19. The mirror 6 is made with a possibility of rotation in two mutually perpendicular planes using two-stage hinge 38 relative to the center of the radiation irradiator 7, rigidly fixed on the basis of the research Institute 11 AIO 5. When this mirror 6 is pivotally connected by rods 39 and 40 mechanical coordinator AIO 5 respectively with the outer frame 10 and the inner frame 13 biaxial Kardanov suspension 8 AIO 5 so that the distance between each of the hinges on the rear surface of the mirror 6 and the center of rotation is equal to the distance between each of the hinges that are installed respectively on the outer frame 10 and the inner frame 13 biaxial Kardanov suspension 8 AIO 5, and the center of rotation. AIO 5 includes also electronic node 41 provide a control signal proportional asked the angular velocity of rotation of the mirror 6 in the vertical plane, the e-node 42 provide a control signal proportional asked the angular velocity of rotation of the mirror 6 in the horizontal plane, and, in addition, e-node 43 scale signal taken from the output e of the node 41 provide a control signal to set the angular velocity of rotation of the mirror 6 in the vertical plane, connected to the input of the sensor 30 of the signal point control the direction of rotation of the outer frame 28 triaxial Kardanov suspension 24 of the rotor 23 of the gyro 18. Moreover, the signal produced from the output e of the node 43 scale output signal e of the node 41 provide a control signal corner / min net and the rotation of the mirror 6 in a vertical plane, proportional to the projection ofvector absolute angular velocity of rotation of the mirror 6 AIO 5 in the transverse axis OzCcoordinate system OhCyCzCassociated with the mirror 6. The output e of the node 42 provide a control signal proportional asked angular velocitythe rotation of the mirror 6 in the horizontal plane, is connected to the sensor input 29 of the signal point control the direction of rotation of the inner frame 26 triaxial Kardanov suspension 24 of the rotor 23 of the gyroscope 18.

The outputs of the three-component accelerometers 20, 21, 22 are connected respectively with the first, second and third inputs of CVU 4. Outputs two-channel gyro REMOTE control 19 and the output e of the node 43 scale connected respectively with the fourth, fifth and sixth inputs of CVU 4. The output of the sensor 16 signal angle of rotation of the outer frame 10 and the output of the sensor 17 of the signal of the rotation angle of the inner frame 13 biaxial Kardanov suspension 8 respectively by the angle of inclination and azimuth are connected with the seventh and eighth inputs of CVU 4, respectively. The first and second output CVU 4 connected respectively to the input e of the node 41 provide a control signal proportional asked angular velocitythe rotation of the mirror 6 in the vertical the second plane and to the input e of the node 42 provide a control signal, proportional asked angular velocitythe rotation of the mirror 6 in the horizontal plane. Information communication line 44 connects the apparatus forming the array signals the coordinates of the initial determination and setting of the specified OB and primary exhibition (HB) inertial discriminator signal direction finding given OB, external to the inventive system inertial auto-tracking, information ninth input CVU 4. Information third output CVU 4 is connected to the information communication line 45, which comes in an array of signals required for generating signals homing movable carrier for a given OB, with equipment for generating signals to control a movable carrier, external to declare the inertial system the automatic tracking of a given OB.

Operation of the proposed system, carrying out the claimed method, as follows.

During the prelaunch and management start-rolling-carrier mode, the initial identify and coordinate asked OB and primary exhibition inertial direction finding given OB on information input CVU on information communication line via a digital channel from the external equipment preparation and launch control on the receiver sequence is part of the code comes standard data array, consisting, for example, from 20 to 32-bit words (Fig.7):

control word

- L0- the initial value of the slant range of rapprochement with the specified OB base 11 of the antenna device 5 (7) together with a movable carrier,

-- the initial value of the rate of change of slant range rapprochement with the specified OB rolling carrier together with the base 11 of the antenna base 5 (Fig.7),

-,,- the initial values of the projections of the vectorlinear speed of rolling of the carrier on the axis of the local horizontal coordinate system Aboutξηζ(figure 1),

- ξ0, η0ζ0- the initial values of the Cartesian coordinates of the specified OB in the local horizontal coordinate system Aboutξηζ,

- λ0,- the initial values of the longitude and latitude of the rolling carrier at the time of launch (figure 1),

- Ψ0, υ0that γ0- the initial value of the yaw, pitch, roll in the moment of the start of the rolling media

-,- the initial value of the elevation angle (tilt and azimuth of a given OB in the associated coordinate system Ox1y1z1, (figure 4),

- LPPsignal PDEC is tionally slant range to the specified OB, characterizing the mode of movement of the rolling media on the target trajectory,

- command word containing sensitive commands that define the algorithm.

The standard information an array as changes in the mutual position of the moving carrier and the specified OB in the pre-start state is continuously updated and overwritten checked for the absence of distortion of signals transmitted information. In this CVU 4 inertial discriminator 3 signal direction finding given OB (6) are implemented algorithms (1)÷(14) forming signals the start of the exhibition inertial measurement vector sight OB asked, namely:

-,the initial values of the horizontal and vertical viewing angles of a given OB in the local horizontal coordinate system Aboutξηζ(figure 3),

-,,- the initial values of the projections of the vectorthe linear velocity of the base 11 of the antenna device 5 (7) together with a movable carrier on the axis of the base antenna coordinate system Oxyz (figure 2),

-,the values of the constituent spatial main the coordinates of e given OB in the base of the antenna coordinate system Oxyz (figure 2), characterized the initial values of the corresponding signals of finding a given OB in two mutually perpendicular planes in the coordinate system Oxyz,

-,- the initial values of the longitude and latitude of a given OB at the time of the start of the rolling media (figure 1),

-where i, j=1, 2, 3, matrix of initial values of the guides of the cosines of determining the mutual position of the base of the antenna coordinate system Oxyz and supporting a geocentric coordinate system ξ0η0ζ0one coordinate axis of which is associated with the set OB (figure 1).

In the moment of the start of the rolling carrier to receive information of the communication line 44 in CVU 4 inertial discriminator 3 staff information array prelaunch determine and establish the initial coordinates of the specified OB and primary exhibition inertial direction finding given OB stops (6). Simultaneously researcheres managed threefold gyro 18, gyroscopic DOS 19, accelerometers 20, 21, 22, and includes the process of inertial direction finding given OB, the algorithm of functioning of which (23) is implemented in CVU 4 inertial discriminator 3. The signals proportional to the measured projections ,,vectorwith the output of the respective acceleration sensors 20, 21, 22 serves respectively to the inputs 1, 2, 3 CVU 4 where it is converted according to the algorithms(16), (17), (18) the signals proportional to the projections of the nxnynzvectoron the axis of the base antenna coordinate system Oxyz. Signals proportional to the measured projections,,vectorwith the corresponding VCS 19 and the sensor 30 moment go respectively to the inputs 4, 5, 6 CVU 4 where it is converted according to the algorithms(16), (17), (19) the signals proportional to the projections of ωx, ωy, ωzvectoron the axis of the base antenna coordinate system Oxyz (Fig.7).

On the received signals, proportional to the projections of the nxnynzand ωx, ωy, ωzin CVU 4 discriminator 3 (6) under certain and set the initial values of the coordinates of the specified OB and initial conditions of the exhibition inertial measurement vector of sight of a given OB form (emit) according to the algorithm (23) the signals of the inertial direction finding, the proportional parameter is:

On a signal, proportional to the mismatch ΔL, CWO 4 discriminator 3 is inertial (Autonomous) tracking of a given OB in range.

With outputs 1 and 2 CVU 4 signals proportional to e1and e2after their conversion in CVU 4, respectively, into signals proportional toandaccording to the algorithms: (32)

act accordingly to the input e of the node 41 and to the input e of the node 42. The signal taken from the output e of the node 43 scale output signal e of the node 41 provide a control signal proportional to the angular velocitythe rotation of the mirror 6 of the integrated antenna device 5 in the vertical plane, is proportional to the projection ofvectorthe absolute angular velocity of rotation of the mirror 6, the antenna device 5 on the coordinate axis OzCcoordinate system OxCyCzCconnected the mirror 6. With the publication of an e-node 41 a signal proportional to a specified vertical angular velocitythe rotation of the mirror 6, is fed to the input of the sensor 30 of the signal point control the direction of rotation of the outer frame 28 triaxial Kardanov suspension 24 of the gyro rotor 13 18 (Fig.7, Fig). Output e of the node 42 a signal proportional asked horizontal angular velocitythe rotation of the mirror 6, is fed to the input of the sensor 29 signal torque control the direction of rotation of the inner frame 26 triaxial Kardanov suspension 24 of the rotor 23 of the gyroscope 18 (Fig.7, Fig). Under the action of control signals respectively proportional to the angular speedandarise perturbing the control points, which according to the precession theory of gyroscopes cause moments gyroscopic reactions in the supports of the axes 32 and 33 of the precession of the respective frames 28 and 26 triaxial Kardanov suspension 24 of the rotor 23 of the gyro 18. Due to this precession occurs a deviation of the respective frames 28 and 26 triaxial Kardanov suspension 24 of the rotor 23 of the gyroscope 18 with angular velocity, similar in magnitude to the angular velocityandchange the respective angles of rotation of the mirror 6. At the same time, what about the output of the respective sensors 25 and 27 of the signal angle of precession signals, proportional to the misalignment between the direction of the vectorkinetic moment of the rotor 23 of the gyro 18 and the specified direction of the mirror 6, the generated control signals, proportional to the velocityandand accordingly vozmushchaemym control points. These signals respectively to the inputs of electronic assemblies 34 and 35, the output of which after conversion to the control voltage and the gain of power served to the control windings of the respective motors 14 and 15 of rotation of the frames 10 and 13 biaxial Kardanov suspension 8 mirror 6 integrated antenna device 5.

The control signals to the electric motors develop turning points equal to and coincident in direction with the direction corresponding perturbing the control points, to rotate the outer 10 and inner 13 part-biaxial Kardanov suspension 8 integrated antenna device 5 and pivotally associated with the main mirror 6.

At the same time from the output of the sensors 16 and 17 of the signal of the rotation angle of the outer frame 10 and the inner frame 13 biaxial Kardanov suspension 8 respectively by the angle of inclination and azimuth are received respectively at 7 and 8 of the input CVU 4 signals mining areas mirror 6 OB tilt and in azimuththat CVU 4 is converted in accordance with the relevant algorithms in the signals proportional.

characterizing the rotation angle and the azimuth of the vector L of sight in the current direction at a given OB. Thus closes the circuit inertial (Autonomous) auto-tracking of a given OB. Simultaneously with the 3rd information output CVU 4 information communication line 45 in equipment external to the inventive system, comes an array of signals required for generating signals homing movable carrier for a given OB, namely:

-andformed in CVU 4 according to the algorithm (22),

-, L, formed in CVU 4 according to the algorithms (23) and (24).

CVU 4 inertial discriminator 3 signal direction finding given OB includes analog-to-digital converters input signals, the processor processing the signals of the accelerometers and gyroscopic instruments, operational storage device, digital-to-analog converters output signals, interconnected input-output channels of information exchange is between a, with the external information source and the integrated antenna device 5. CVU 4 provides storage of standard information an array of signals entered from an external source of information on information communication line 44. In addition, CWO 4 implements the mathematical and software of the inertial discriminator 3, allows to obtain information about the signals e1and e2, inertial direction finding given OB in two mutually perpendicular planes of direction finding in the base of the antenna coordinate system Oxyz, the error signal ΔL range between the initial value of slant range L0to the specified OB and the current value of slant range L convergence of mobile media with the specified OB for the implementation of the integrated inertial system the automatic tracking of a given OB carrying out the claimed method. Thus, the proposed technical solution (method and system of the inertial automatic tracking of a given OB) achieve a positive effect, consisting in the following.

The proposed technical solutions have absolute immunity because it does not radiate and do not take up any radio signals, or signals in other spectral ranges. Use of the claimed technical solution to improve the accuracy of the trade the territorial auto-tracking of a given OB on Autonomous trajectory of the rolling carrier, improved accuracy and robustness with the joint work of the proposed technical solutions, for example, with radar systems auto-tracking OB.

The proposed technical solution also improves performance characteristics of the integrated complexioned systems homing mobile media.

The results of these studies support the feasibility of the proposed method and system inertial auto-tracking of a given OB and provides them to achieve high performance characteristics of the integrated complexional BSSN rolling media.

1. The way the inertial frame auto-tracking of a given object of sight, characterized by the fact that during prelaunch rolling media define and impose the signals proportional to the initial values of slant range, tilt angle and azimuth of the mutual position of the moving carrier and initially specified object sighting (S), this form of standard signals in the form of package serial data word that contains the initial values of tilt angle and azimuth of a given S relative to the base of the antenna device, rigidly installed inside the housing of the rolling media, associated with the center of mass movably what about the media coordinate system, slant range to the set S and the inclined speed of convergence with the set S of the base of the antenna device with a movable carrier in the pre-start position, yaw, pitch and roll of the rolling carrier together with the base of an antenna device, as well as the initial conditions of the exhibition inertial direction finding given S, i.e. regular signals proportional to the initial values of the projections of the vector of linear speed start moving the base of the antenna device with a movable carrier on the corresponding axes of the local horizontal coordinate system, the Cartesian coordinates of the rolling media in the local horizontal coordinate system, longitude and latitude α'0rolling media, and signals proportional to the operating parameter range, control word, command word, then check the generated signals without distortion, then the signals characterizing the package consecutive information words is converted into a parallel form to form signals of the inertial direction finding given S, then convert the signals proportional to the initial conditions of the exhibition inertial direction finding given S in the signals proportional to the initial values of the projections of the vector linear near the STI prelaunch move the base of the antenna device with a movable carrier on the appropriate axis of the base of the antenna coordinate system, the viewing angles of the specified S respectively in the horizontal and in the vertical plane in the local horizontal coordinate system, the components of the three-dimensional angular coordinates of a given S, characterized by the parameters of the inertial direction finding it in two mutually perpendicular planes of direction finding in the base of the antenna coordinate system, the guides of the cosines, which determine the initial mutual position of the base of the antenna coordinate system and the reference geocentric coordinate system associated with one of its axis with a given S, located on the earth's surface; time start rolling media update signals the initial determination and setting coordinates of a given S and signals the start of the exhibition inertial direction finding given S cease and during the beginning of his movement along the trajectory together with the base integrated antenna device simultaneously measure signals that are proportional to the projections of the vector of apparent linear acceleration motion and the projections of the vector of absolute angular velocity of rotation of the mirror integrated antenna device to the corresponding axes of the coordinate system associated with mirror integrated antenna device, according to these measured signals with respect to a variable electric reduction between the corners of the turning mirror antenna device and sight vector given S detect signals, proportional to the projections of the vector, the apparent linear acceleration motion and the projections of the vector of absolute angular velocity of sight vector specified in the corresponding axes of the base of the antenna coordinate system, the form of received signals with respect to the signals defined and installed during prelaunch processing of the rolling carrier, the signals proportional to the current parameter values vector of sight of a given S, characterized by the projections of the vector of linear speed of convergence to the set S the Foundation of the integrated antenna device with a movable carrier on the appropriate axis of the base of the antenna coordinate system, slant range and slant the rate of convergence to the set S the Foundation of the integrated antenna device with a movable carrier, mismatch between the initial value of the slant range to the set S and the current value of slant range approximation with a given S the Foundation of the integrated antenna device with a movable carrier signals of the inertial direction finding given S in two mutually perpendicular planes of direction finding in the base of the antenna coordinate system, directing cosines of the reciprocal of the current angular position of the base of the antenna coordinate system and the op is nuclear biological chemical (NBC geocentric coordinate system, associated with one of its axis with a given S, located on the earth's surface, the received signal is proportional to the mismatch between the specified start value for the slant range and the current value of slant range approximation with a given S the Foundation of the integrated antenna device with a movable carrier, perform inertial tracking a given S range, and the resulting signals are proportional to the inertial direction finding given S in two mutually perpendicular planes of direction finding in the base of the antenna coordinate system, transform by integrating closed-loop inertial auto-tracking of a given S direction control signals respectively proportional to the rate of change of the viewing angles of a given S, determine the current the direction of sight for a given S in the horizontal and in the vertical plane resulting from the movement of the Foundation of the integrated antenna device with a movable carrier in the direction of the set S, which affect the appropriate sensors torque control threefold gyroscope installed in the inner frame biaxial Kardanov suspension integrated antenna device, the outer and inner the I frame which is pivotally connected with his mirror, under the action of these control signals create perturbing the control points, causing moments of gyroscopic reactions in the supports of the axes of precession of the relevant part of triaxial Kardanov suspension of the rotor of the gyroscope, when this occurs precession deviation of the relevant part of triaxial Kardanov suspension of the gyroscope rotor angular velocity, similar in magnitude to the angular rate of change of the respective viewing angles given S, simultaneously detect signals proportional to the misalignment between the direction of the angular momentum of the gyroscope rotor and direction for a given S, formed by signals proportional to the rate of change of the viewing angles of the specified S in the horizontal and in the vertical plane and respectively perturbing the control points; these signals are converted into control signals for the motors rotate under biaxial Kardanov suspension integrated antenna device, and the control signals to the electric motors develop turning points equal to and coincident in direction with the direction corresponding perturbing the control points for rotation of the inner and outer part of the biaxial Kardanov suspension integrated antenna device and pivotally associated with the mirror current is the direction for a given S, thereby completing the circuit of the inertial automatic tracking of a given S and define the signals proportional spent the values of the tilt angle and azimuth of a given S relative to the base integrated antenna device in the coordinate system connected with the center of mass of the rolling media.

2. The system implementing the method according to claim 1, characterized in that it consists of a narrowband loop inertial auto-tracking of a given S and a broadband circuit gyrostabilization and control the direction of sight vector S contains inertial discriminator signal direction finding given S in two mutually perpendicular planes of direction finding in the base of the antenna coordinate system, which includes a digital computing device (CVU), and the integrated antenna device containing the mirror with feed and waveguide-switching device, two-axis gimbal, the axis of rotation of the outer frame which is set on the basis of the integrated antenna device, and the axis of rotation of the inner frame mounted in the outer the frame is perpendicular to the axis of rotation, the motor rotation of the outer frame biaxial Kardanov suspension and motor rotation internal frame biaxial Kardanov suspension, the sensor signal of the angle at which orota outer frame biaxial Kardanov suspension, the sensor signal of the rotation angle of the inner frame biaxial Kardanov suspension respectively by the angle of inclination and azimuth, in addition, managed the threefold gyroscope, dual gyroscopic angular rate sensor, three-component accelerometer, and managed threefold gyroscope installed in the inner frame biaxial Kardanov suspension integrated antenna device so that the direction vector of the kinetic moment of the rotor theretirement the position of the gyroscope coincides with the zero direction of sight line integrated antenna device, a gyroscope contains a three-axis gimbal rotor, the sensor signal of the angle of precession of the inner frame triaxial Kardanov suspension of the rotor and the sensor signal of the angle of precession of the outer frame triaxial Kardanov suspension of the gyroscope rotor the sensor signal torque control the direction of rotation of the inner frame triaxial Kardanov suspension of the gyroscope rotor, the sensor signal torque control the direction of rotation of the outer frame triaxial Kardanov suspension of the gyroscope rotor, the axis of proper rotation of the gyroscope rotor mounted in the inner frame triaxial Kardanov suspension of the rotor of the gyroscope, the axis of rotation which is installed in the outer frame triaxial Kardanov suspension rotor gyro is a COP, the axis of rotation which is installed in the housing of the gyroscope, which is rigidly mounted in the inner frame biaxial Kardanov suspension integrated antenna device, which also includes electronic site gyrostabilization and control the direction of the mirror on S angle, e node gyrostabilization and control the direction of the mirror on S in azimuth and amplifiers feedback signals in the respective channels of the dual channel angular rate sensor, which is installed in the inner frame biaxial Kardanov suspension integrated antenna device so that theretirement position one of its axes of sensitivity coincides with the direction of the line of sight integrated device, and another axis sensitivity is oriented, for example, up along the positive direction of the axis of rotation of the inner frame biaxial Kardanov suspension integrated antenna device when the direction of the kinetic moment of the rotor gyroscopic angular rate sensor coincides with the positive direction of the axis of rotation of the outer frame biaxial Kardanov suspension integrated antenna device; all three accelerometer installed in the inner frame biaxial Kardanov suspension integrated antenna of the device is the STV so, the axis of sensitivity of one of them are mutually orthogonal with respect to mutually orthogonal axes of sensitivity of the other two-component accelerometers, while the axis of sensitivity of one of the three-component accelerometers matches in theretirement position with the zero position of the line of sight integrated antenna device;
the outputs of the respective sensors signal the angle of precession of the inner frame and outer frame triaxial Kardanov suspension of the gyroscope rotor respectively connected to the input nodes gyrostabilization and control the direction of mirror integrated antenna device, the outputs of which are connected respectively with the motors rotate the outer frame and inner frame biaxial Kardanov suspension integrated antenna device, and the outputs of the sensors signal the angle of precession of the inner and outer frame triaxial Kardanov suspension dual rotor gyroscopic angular rate sensor are connected respectively to the input of amplifier feedback signal, the outputs of which are connected with the sensors signal the moment of the inner and outer part of the channel gyro angular rate sensor; a mirror configured to rotate in two mutually perpendicular planes through Duhs apendage hinge relative to the center of the radiation irradiator, rigidly fixed on the basis of the integrated antenna device, and the mirror pivotally connected rods mechanical coordinator of the integrated antenna devices, respectively, with the outer frame and the inner frame his biaxial Kardanov suspension so that the distance between each of the hinges on the rear surface of the mirror and its center of rotation is equal to the distance between each of the hinges are installed respectively on the outer frame and the inner frame biaxial Kardanov suspension integrated antenna device and the center of rotation of this framework; integrated antenna device includes also the site provide a control signal proportional asked the angular velocity of rotation of the mirror in a vertical plane, the node forming the control signal proportional asked the angular velocity of rotation of the mirror in the horizontal plane, and, in addition, the node scaling of the signal produced from the output node to provide a control signal to set the angular velocity of rotation of the mirror in a vertical plane, connected to the sensor input signal torque control the direction of rotation of the outer frame triaxial Kardanov suspension of the gyroscope rotor, and the signal produced from the output node scaling of the signal in the course of the node forming the control signal of the angular velocity of rotation of the mirror in a vertical plane, proportional to the projection of the vector of absolute angular velocity of rotation of the mirror on the transverse axis of the coordinate system associated with the mirror, the output node of forming a control signal proportional asked the angular velocity of rotation of the mirror in the horizontal plane, is connected to the sensor input signal torque control the direction of the inner frame triaxial Kardanov suspension of the gyroscope rotor; the outputs of the three-component accelerometers are connected respectively with the first, second and third inputs of CVU, outputs two-channel gyro angular rate sensor and the output node scaling is connected with the fourth, fifth and sixth inputs of CVU, the sensor output signal of the rotation angle of the outer frame and the sensor output signal of the rotation angle of the inner frame biaxial Kardanov suspension integrated antenna device is connected to the seventh and eighth input CVU respectively, the first and second input CVU connected respectively to the input node to provide a control signal to set the angular velocity of rotation of the mirror in a vertical plane and with the input node of the formation of the control signal set the angular velocity of rotation of the mirror in a horizontal plane; information ninth input CVU connected to the information communication apparatus forming the regular m is Siva signals the coordinates of the initial determination and setting of a given S and the initial exhibition of the inertial direction finding given S, external to the inventive system, the information the third output CVU connected to the information line, which comes in an array of signals required for generating signals homing movable carrier for the set S, with equipment for generation of control signals of the rolling media, external to declare the inertial system the automatic tracking of a given RC.



 

Same patents:

FIELD: aircraft engineering.

SUBSTANCE: stabilised sight line is consecutively aligned with every viewing object. Distance to objects and their angular coordinates relative to finder system are defined and memorised. After launching the aircraft toward short-range viewing object and its interception by control system, time of flight abeam flight path is measured. Data on aircraft hitting the preset viewing zone or miss is defined and fed to finder system field of vision. In the case of miss and possibility of re-aiming, instruction for flight above sight line is sent to aircraft. Sight line is switched to the next range viewing object and, at approach thereto, aforesaid instruction is cancelled to move the aircraft to sight line. In further misses, elevation instruction is fed with changing sight line to the nest viewing objects. Said elevation instruction is fed to aircraft when it flies over immediate object.

EFFECT: higher accuracy of control.

FIELD: weapons and ammunition.

SUBSTANCE: engineering anti-aircraft mine comprises a contactless target sensor and a directional fragmentation warhead. The method to damage low-flying targets consists in the fact that the mine warhead is actuated using a bistatic radar target sensor. The device for damage of low-flying targets is made in the form of a bistatic radar system made of a spaced radar transmitter and an autonomous Doppler radar receiver. The radar transmitter is installed on the secured object. The autonomous Doppler radar receiver is installed on the area surrounding the object, together with the fragmentation warhead. In another version of design the device warhead is made in the form of an electromagnetic missile. The electromagnetic missile comprises ready fragments of a ferromagnetic material. The area of fragmentation warhead damage is matched with the zone of detection of the autonomous Doppler radar receiver.

EFFECT: higher reliability of damage of various air targets under any meteorological conditions.

4 cl, 1 dwg

FIELD: weapons and ammunition.

SUBSTANCE: complex homing head comprises an optical and infrared digital photo cameras, a passive or an active radiolocator, an automatic pilot, a unit of threshold passage of a signal of an optical photo camera, a unit of switching off of infrared pixels, an electronic key, a delay line and a night vision device. The signal from the night vision device or from the infrared camera arrives to a specialised computer of a control system, where with the specified extent of validity it is compared with all-aspect images of all known airplanes available in the computer memory. After identification of the airplane type the computer determines the predetermined resolution or prohibition for target damage. A pre-programmed most vulnerable area is selected on the target, and further homing is carried out to the same area by readings from the night vision device or infrared camera.

EFFECT: improved accuracy.

9 cl, 1 dwg

FIELD: weapons and ammunition.

SUBSTANCE: method of generation of a signal of control of a shell rotating by list angle consists in detection of an amplitude modulated signal with a tracking gyroscopic head of homing, proportional to angular speed of a target sighting line, conversion of a signal into a width-modulated signal that arrives to an inlet of a steering drive of the shell. At the same time the sum of the amplitude-modulated signal and the signal of the sensor of angular speed of the shell filtered with a filter of noise components and a filter of a permanent component is converted into the width-modulated signal.

EFFECT: provision of possibility to increase probability of shell hitting a target.

1 cl, 6 dwg

FIELD: physics.

SUBSTANCE: method of striking a target producing coherent interference by launching and guiding missiles fitted with an active radar seeker involves emitting a probe signal and receiving the signal reflected by the target, wherein two missiles are simultaneously directed onto the target, and emission of the probe signal and reception of the signal reflected by the target are reassigned between the missiles alternately; before launching missiles, the intervals for emitting probe signals and receiving reflected signals are synchronised such that intervals for emitting the signal of one missile match intervals for receiving the signal reflected from the target of the other missile. Switching intervals for emitting the signal and receiving the reflected signal is carried out with frequency higher than the bandwidth of the guidance system, and the frequency of switching emission and reception intervals is set primarily alternating. The missiles are guided into the target on "pliers" type maximally divergent trajectories.

EFFECT: improved method.

4 cl, 2 dwg

FIELD: weapons and ammunition.

SUBSTANCE: topographical lock-on of launcher is effected with the help of satellite navigation system prior to setting the fire parameters. Fire control board with digital radio communication means is located 50-100 metres from launcher. Lock-on errors may not exceed 50 metres. Fire control parameters are transmitted in binary code to launcher ACS and, further, to missile. Launcher is turned to azimuth and elevation to launch the missile by command from control board.

EFFECT: increased range of fire, higher safety.

1 dwg

FIELD: physics.

SUBSTANCE: optoelectronic system for an air defence missile system has an pointing head (5) mounted on a precision two-coordinate turning device (8), as well as a computing unit (13), a monitor (15) and a control unit (16). The pointing head (5) has a double-channel design with wide (6) and narrow (7) field of vision television channels. The optoelectronic system is fitted with a unit for superimposing wide and narrow field of vision images (14). The lens of the narrow field of vision channel has a mirror-lens design with central screening and includes a main concave mirror (19) and a convergent mirror (20) arranged in series, as well as annular first (21) and second (22) optical wedges placed in front of the convergent mirror (20) with possibility of independent rotation relative each other around the optical axis of the lens. The outer diameter of the optical wedges is equal to the diameter of the main concave mirror (19), and the inner diameter is equal to the diameter of the convergent mirror (20). The wide field of vision (6) channel is placed in front of the narrow field of vision (7) channel having a common optical axis with it. The diameter of each of the components wide field of vision (6) channel does not exceed the diameter of the convergent mirror (20).

EFFECT: possibility of battery launch of a missile with one air defence missile system at several targets at once.

1 dwg

FIELD: weapons and ammunition.

SUBSTANCE: corrected artillery projectile (CAP) containing body, nongyroscopic target indicator-coordinator, logic device, electric power supply system, jet impulse correcting engines (ICE) are actuated on end section of ballistic flight trajectory maximum during 3 s. Multiple pulse correction is performed at maximum frequency meeting the specified ratio. In order to decrease the angle of non-scheduled CAP oscillations, application points of CAP trust vectors are offset from mass centre towards tail portion through the distance of 2…3 diameters of critical cross section of CAP nozzle. In order to reduce the probability of retaliatory strike of target indication means, laser irradiation of target is performed for not more than 3.5 s. In order to shorten the time and increase the kill effectiveness, the shooting is performed with two or more guns against one target by using the fire schedule providing simultaneous approach of several CAP to obstacle (target).

EFFECT: shortening the time and increasing kill efficiency.

4 cl

FIELD: weapons and ammunition.

SUBSTANCE: infrared missile seeker includes one photoreceiver located separately from photoreceivers arranged on rotating rotor of coordinator after optic diagram in the form of a slot. The above photoreceiver transmits the received pulse signal from generator of infrared pulse interference to signal amplification unit, and then to control unit of missile rudders and interrupts the signal from photoreceivers arranged on rotating rotor.

EFFECT: improving interference immunity against infrared pulse interference.

1 dwg

FIELD: weapons and ammunition.

SUBSTANCE: initial hypothetic rendezvous moment is pre-set, coordinates of vertexes of triangular approachability areas of missile and target in horizontal plane are calculated for that rendezvous moment from the position corresponding to missile control selection moment. Distances from vertexes of triangular approachability area of target to missile approachability area are determined, which together with hypothetic rendezvous moment are stored. Hypothetic rendezvous moment is varied within the range of the time moment at which the control is chosen to maximum allowable moment of end of orientation. For each vertex of triangular approachability area of target there found is its optimum hypothetic rendezvous moment corresponding to minimum distance between missile approachability area and this vertex. Optimum hypothetic rendezvous moments for each vertex of target approachability area and distance from that vertex to missile approachability area are stored. That vertex of target approachability area is chosen which at its optimum hypothetic rendezvous moment is located at maximum distance from missile approachability area, and as per mutual location of that vertex and missile approachability area built for the same hypothetic rendezvous moment there chosen is missile control.

EFFECT: improving missile orientation accuracy, improving usability of fighting equipment of missile during firing at high-speed and high-manoeuvrable targets.

2 dwg

FIELD: armament, in particular, artillery guided missiles with a laser semi-active homing head locking on n illuminated target in the terminal trajectory leg; the invention is designed for control of fire of mortars and barrel artillery of calibers, types 120, 122, 152, 155 mm, at firing of guided ammunition, as well as of guided missiles with a homing head.

SUBSTANCE: the method consists in the following: the target is detected by a target indicator, then the distances between the target indicator and the target and the firing position and the target are measured with a topographical survey of the target, target indicator and the firing position, computation and realization of the firing settings according to the target and firing position coordinates. Then, missile guidance to the target is performed, it includes a successive gun setting and turn of the missile on target illuminated after the shot by laser radiation of the target indicator, the topographical target survey and conversion of its coordinates to a sequence of binary codes is accomplished with the aid of a reconnaissance panel, and the computation of gun settings is performed with the id of a gun control panel. A common computer time is organized in the reconnaissance panel and in the gun control panel, and after the shot up to the actuation of the target indicator transmission of the value of the time of switching of target indicator laser radiation is performed from the gun control panel to the reconnaissance panel by means of digital radio communication, and the signal of switching of target illuminance is automatically transmitted from the reconnaissance panel to the target indicator at achievement of the time of switching.

EFFECT: enhanced accuracy of fire by a guided missile at a target illuminated by a laser beam due to reduced quantity of "hand" operations and enhanced accuracy of synchronization of the moment of target illumination with the time of the shot; the last property is especially important for destruction of moving targets.

1 dwg

FIELD: homing systems of flight vehicles.

SUBSTANCE: the method consists in the fact that the distance from the flight vehicle to the target by the moment of beginning of homing, the current rate of closure with it, angular velocities of the sight line and the lateral accelerations of the target and guided flight vehicle in the horizontal and vertical planes are measured. After measurements the signals of flight vehicle control in the horizontal and vertical planes are formed according to the relations using the mentioned coordinates of the target and flight vehicle. The high sensitivity of the flight vehicle to the target maneuver is based on the estimation of its lateral accelerations, and the adaptation to the range of the beginning of homing is based on estimation in the procedure of suspension of its navigation parameter.

EFFECT: provided reaction to the maneuver of far located targets and adaptation to the range of the beginning of homing predetermining a more active maneuver of the guided object on a near located target.

4 dwg

FIELD: high-accuracy armament systems, in particular, guidance systems of tactical ballistic missiles.

SUBSTANCE: the method includes the lunching of the missile and its flight on the trajectory having a ballistic leg, on which the moment of separation of the correctable war module is determined, and the correctable war module is separated, and a homing leg. In addition the flight trajectory has a leg of intermediate correction. Prior to the missile launch, the initial conditions for computation of the predicted flight trajectory of the correctable war module are set into the on-board computer via the antenna of the communication radio set and the on-board receiver. After the launch the kinematic parameters of the missile motion are additionally determined on the ballistic leg, and after separation of the correctable war module the predicted miss of the correctable war module is computed on the leg of intermediate correction, and the impulse correction engine is started for reduction of the miss to the minimum value. Before the homing leg the correctable war head is decorated to the operating linear and angular velocity, and the beginning of the homing leg is determined by transmitting a signal from the correctable war module via the radio channel to the target indicator-range finder. At intermediate correction and homing the impulse correction engines are started when the current miss exceeds the allowable value.

EFFECT: enhanced accuracy of guidance.

1 dwg

FIELD: radio engineering, in particular, methods for guidance of self-moving guided projectiles to reflected laser beam, applicable in military equipment.

SUBSTANCE: use is made of several sources of illumination of the optoelectronic device located on the object of destruction. These sources operate at different frequencies, as a result of which an information field of projectile flight control is produced with a multispectral homing head, which makes it possible to reduce the requirements to the accuracy of projectile guidance to the target at the initial leg o guidance to the optoelectronic instrument, located in the most vulnerable point of the armored object.

EFFECT: enhanced accuracy of guidance of guided projectile to the most vulnerable points of position of the optoelectronic instrument, and efficiency of destruction of the armored object.

3 dwg

FIELD: aircraft guidance systems.

SUBSTANCE: method comprises measuring transverse acceleration of the aircraft to be guided in the horizontal plane, measuring the angle between the vector of aircraft velocity and line of sighting on the ground object, distance between the aircraft and ground object, velocity of the aircraft, and generating the control signal in the horizontal plane as the difference between the required angular velocity of the conventional sighting point multiplied by the adaptive navigation parameter and transverse acceleration of the aircraft in the horizontal plane. The adaptive navigation parameter is generated depending on the difference between the current value of the angle between the vector of the aircraft velocity and line of sighting on the ground object in the horizontal plane and required angular shift of the conventional sighting point in the horizontal plane with respect to the line of sighting on the ground object.

EFFECT: improved stabilizing of linear resolution of the guidance.

1 dwg

FIELD: air defense.

SUBSTANCE: system comprises housing connected with four return springs each of which is connected with the corresponding air vane, propulsion engine, four photomultiplier tubes of the guidance system which are connected in the arms of the electric bridge, four air vanes connected with the electromagnets with movable core through intermediate relay, four infrared devices for photomultiplier tubes, four vision limiters for photomultiplier tubes, four DC amplifiers for photomultiplier tubes, board power source, four tail stabilizing fins, analogue-digital converter, and control unit composed of integrator, tree-link integrating device, and inverter. The photomultiplier tubes are connected with the analogue-pulse converter, intermediate relay, integrator, inverter, and three-link integrating device through the DC amplifier.

EFFECT: accelerated missile aiming.

7 dwg

FIELD: rocket armament, in particular, methods of fire by guided missiles from infantry fighting vehicles and tanks.

SUBSTANCE: after launching of the missile from the bore the sustainer engine is started in the trajectory of its flight by the preset start-up time, and the missile is controlled in the active and passive sections of the trajectory up to the end of the missile flight. The sustainer engine is started by a device with an electronic delay, the delay time is determined from the condition: where: - delay time of sustainer engine starting; - missile flight speed at the instant of sustainer engine starting; V0(m/s) - missile muzzle velocity; m(sq.kgf/m) - missile mass at the instant of sustainer engine starting; cx - missile drag coefficient; Smid(sq.m) - missile maximum cross-section area; - air density.

EFFECT: enhanced efficiency of fire due to the increase of the maximum flying range at a simultaneous reduction of spread and reduction of dispersion in the initial trajectory section.

3 dwg

FIELD: methods for generation of launcher guidance angles by fire control devices.

SUBSTANCE: the probability of pursuit of the underwater target is determined and in addition a correcting of the launcher guidance angles is introduced in the calculation of the lead point coinciding with the center of the target pursuit area by determination of linear deflection of aiming point Δxc by formula: Δxc=l0-ln , where ln - semilength of the target pursuit area; l0 - semilength of the target lock-on area.

EFFECT: enhanced probability of hitting of the underwater target at firing by rockets 90P to the target lead point.

5 dwg, 2 tbl

FIELD: guided missile guidance systems.

SUBSTANCE: before normalization of missile control signals the engine operation time is preset, a priory evaluation of the projections of the missile axial acceleration onto the input axes of the antenna co-ordinate system of the homing head is preset. On completion of engine operation the present flight time is measured, the time before impact with the target is determined, and the evaluation of miss caused by missile axial acceleration is determined. The axial acceleration compensation signal is proportional to the evaluation of miss caused by missile axial acceleration. The obtained compensation signal is summed up with the signal of missile control according to the method of proportional navigation or its modifications.

EFFECT: enhanced accuracy of guidance.

2 dwg

FIELD: armament, in particular, control of artillery guided missiles with a laser semi-active homing head, locking an illuminated target in the terminal trajectory leg, applicable for control of fire of mortars and cannon artillery.

SUBSTANCE: the method consists in topographical survey of the target indicator and firing position to the terrain, target detection by the target indicator, measurement of the distance from the target indicator to the target, azimuth and angle of sight relative to the target indicator under the conditions of successive target location. Topographical co-ordinates, direction and speed of target motion are calculated in the reconnaissance panel, the co-ordinates, speed and direction of target motion are transformed to a series of binary codes and transmitted to the firing position panel by the digital radio communication. On the basis of the obtained data and preliminarily preset meteorological data, ballistic corrections, time of preparation of the gun and missile to fire the predicted point of impact of the missile with the target an the ground surface is calculated, the fire settings according to the co-ordinates of the gun and the co-ordinates of the predicted point of impact of the missile with the target are calculated, the time of the shot for target destruction in the predicted point is calculated, the sole computing time is set in the reconnaissance panel and in the firing position panel, the fire settings are realized. The signal for a shot is given from the firing position panel when the time of the shot is coming. The time of switching-an of the target indicator of laser radiation is transmitted from the firing position panel to the reconnaissance panel via the digital radio communication channel. The signal for switching-on of the laser radiation target indicator is automatically given from the reconnaissance panel when the required time of switching-on is attained, and the missile is guided to the target illuminated by the laser radiation of the target indicator.

EFFECT: enhanced accuracy of fire at movable targets.

4 cl, 2 dwg

Up!