RU2120885C1 - Complex of on-board equipment of flying vehicle - Google Patents

Abstract

FIELD: manned flying vehicles: helicopters and front-line aircraft. SUBSTANCE: complex of on-board equipment includes navigation system, initial data setting system, sighting system, flying vehicle control system, destruction means control system, indication system, motion parameters corrector, motion parameters former forming information signals in mode of location of ground fixed targets for optimal correction of navigation and sighting parameters, thus enhancing accuracy of navigation, control and indication. EFFECT: enhanced accuracy of navigation, combat efficiency. 3 dwg

Description

 The invention relates to the field of aircraft industry, in particular to complexes of on-board equipment providing navigation, performing targeted tasks and launching weapons, indicating and controlling aircraft, especially helicopters and front-line aircraft.

 Of the known analogues, the closest in technical essence is the on-board equipment complex selected as a prototype, the description of which is given in the book [1] Grishutina AG Lectures on aviation sighting systems of firing. - Kiev: KVVAIU, 1980, pp. 355-385. This complex contains a navigation system, an aiming system, a device for correcting movement parameters, a weapon control system, an indication system, and a source data setting system.

Navigation parameters measured by the navigation system with errors that are slowly changing processes (see the book [2] II Pomykaeva I. Navigation Instruments and Systems.- M .: Mechanical Engineering, 1983, pp. 323-343). Depending on the types of corrective means, the errors of the navigation system in the course are 0.5-3 ^o , and the errors in the coordinates of the location are in the range from several tens of meters to several kilometers.

 Aiming parameters, for example, the coordinates of the aircraft relative to the target, are measured by the aiming system with errors, which are usually fluctuating rapidly changing centered processes; depending on the types of location tools (see book [3] Malashina MS et al. Fundamentals of designing laser location systems. - M.: Higher School, 1983, p. 129) the errors of relative coordinates can range from units meters to several tens of meters. The presence of the above errors is the disadvantage of the prototype.

 The technical result achieved by using the proposed technical solution is to increase the accuracy of the complex and, as a result, increase the efficiency of the use of aircraft.

 This result is achieved by the fact that the complex of on-board equipment containing interconnected navigation system, a device for correcting movement parameters, an aiming system, a system for setting initial data, an aircraft control system, an indication system, a weapon control system, additionally, a device for generating movement parameters is introduced, forming motion parameters and functions of their errors for optimal correction in the device for correcting motion parameters, based on pairs meters, measured by navigation and sighting systems in the modes of simultaneous location of ground stationary targets with known coordinates, while the device for generating motion parameters includes an input-output unit, a coordinate conversion unit, a difference unit, a division unit, a multiplication unit, an arctangent generation unit and a summing unit, moreover, the first and second inputs of the device for generating motion parameters are, respectively, the first and second inputs of the input-output unit, the third and seventh inputs of which are connected accordingly, the first output of the division block, the output of the summing block, the first, second and third outputs of the multiplication block; the output of the device for generating motion parameters is the first output of the input-output unit, the second and seventh outputs of which are connected respectively to the first input of the division unit, the first and fifth inputs of the coordinate conversion unit, the third output of the input-output unit is also connected to the second input of the division unit, to the third whose input is connected to the first output of the coordinate transformation unit, the second to ninth outputs of which are connected respectively to the first and eighth inputs of the difference unit, the first and second outputs of which are connected respectively, to the fourth and fifth inputs of the division unit, the fourth output of the input-output unit is also connected to the first input of the multiplication unit, the second, third and fourth inputs of which are connected respectively to the third and fourth outputs of the difference unit and the second output of the division unit, the third output of which is connected to the input of the arctangent generation unit, the output of which is connected to the first input of the summing unit, to the second input of which the seventh output of the input-output unit is connected.

 In FIG. 1 is a block diagram of the proposed complex of on-board equipment, comprising: 1 - navigation system NS, 2 - system for setting the initial LED data, 3 - sighting system PS, 4 - control system for the aircraft SULA, 5 - display system SI, 6 - control system SUSP means of destruction, 7 — device for generating motion parameters of UVPD, 8 — device for correcting motion parameters of UKPD.

 In FIG. 2 is a block diagram of a UFPD7 containing 9 — a BVV input-output block, 10 — a BOD coordinate transformation block, 11 — a BR difference block, 12 — a DB division block, 13 — a BU multiplication block, 14 — a BFA arc tangent formation block, 15 — BS summing unit.

 In FIG. 3 is a block diagram of UKPD8 containing 16 — a BVV I / O block, 17 — a BR difference block, 18 — a BU multiplication block, 19 — a BSI summing integrator block, 20 — a BFCC correction coefficient generation block.

 The communications of the complex are made on single-wire lines, for example, a serial code or multiplex information exchange.

 The complex works as follows.

 From the output of LED2, adjustment characteristics and initial data for all systems are received - coordinates of targets and landmarks for NS1 and PS3, ballistic characteristics of weapons for PS3, nomenclature and number of weapons for SUSP6, balancing characteristics and control signal limits for SULA4.

 Examples of technical performance of LED2 are given, for example, in the book [4] by Janjgava G.I. et al. Fundamentals of navigation through geographical fields. - M .: Nauka, 1985. The output of LED2 is connected to the first inputs of NS1, PS3, SULA4, SUSP6, UFPD7, UKPD8.

 In NS1, navigation parameters are formed: the coordinates of the location, angles and components of the speed of the aircraft, taking into account the data received at the first input from LED2 and at the second input from PS3. From the output of HC1, navigation data is supplied to the second inputs of PS3, SULA4, SI5, UKPD8. Examples of technical performance of HC1 are given in [2].

 In PS3, taking into account the data received at the first input from the output of LED2 and at the second input from the output of HC1, impact parameters are formed - polar and rectangular coordinates of targets and landmarks relative to the aircraft, one-time commands for preparing and launching weapons, given control signals for the aircraft which from the output of PS 3 go to the second inputs of SUSP6, UFPD7, NS2 and to the third inputs of SULA4, SI5. Examples of technical performance of PS3 are given in [1].

 In SULA4, according to the given signals received at the first, second and third inputs, automatic control signals and indication signals to the crew are formed for manual, semi-automatic and automatic control of the aircraft, which from the SULA4 output go to the first input of SI5 and to the aircraft controls.

 Examples of technical implementation of SULA4 are given, for example, in the book [5] by V. Bodner. Theory of automatic flight control. - M.: Science, 1964.

 In SUSP6, according to the signals received at the first and second inputs, indication signals are generated to the crew by commands for manual launch of weapons, which from the output of SUSP6 are sent to the fourth input of SI5 and to the inputs of weapons to ensure their preparation and automatic launch.

 Examples of technical implementation of SUSP6 are given in [1].

 In SI5, the signals received at the first, second, third and fourth inputs indicate navigation, flight, sighting data for the crew to navigate, control and launch weapons. Examples of technical implementation of SI 5 are given in the book [6] Kostyuk V.I. Information display systems and engineering psychology. - Kiev: Vishcha school, 1977.

When two ground fixed targets are fixed by means of PS3 (one of them can be a reference point) with known (programmed) coordinates entered before or in flight in LED2, the polar coordinates of these targets are D ₁ , D ₂ , φ ₁ , φ ₂ (here D _i is the range, φ _i is the angle of sight of the target) from the output of PS3 are fed to the second input of the UVPD7, the first input of which from the output of LED2 receives signals S is the distance between the targets, φ is the angle between the line connecting the points of the targets and the parallel (in the ground geographic coordinate system).

При этом погрешности, определяемые погрешностями измерений D_i, φ_i, имеют вид

здесь

центрированная флюктуационная погрешность, близкая к белому шуму.With a low altitude in the horizontal plane, the angle of the current course ψ _p and the coordinates of the location of the aircraft relative to the first target x _op , Y _op are determined:

In this case, the errors determined by the measurement errors D _i , φ _i have the form

here

centered fluctuation error close to white noise.

In KFPD (see Fig. 2), the first and second inputs are connected to the first and second inputs of BVV9, sampling the parameters D ₁ , D ₂ , φ ₁ , φ ₂ , S, φ. From the second output of the BVV9, the signal S is supplied to the first input of the DB12. From the third and seventh outputs of BVV9, the signals D ₁ , D ₂ , φ ₁ , φ ₂ , φ are respectively supplied to the first and fifth inputs of BPK10, while the third output of BVV9 is connected to the second input of BD12, the fourth output of BVV9 is connected to the first input of BU13, and the seventh output of the BVV9 is connected to the second input of the BS15.

 BPK10 is a coordinate converter.

поступающий на третий вход БД12.A signal is generated at the first output of BPK10

arriving at the third input of the DB12.

поступающие на первый - восьмой входы БР11, выполненного на четырех элементах разности, на которых формируются сигналы:
F₁ = D₂sinφ₂ - D₁sinφ₁;
F₂ = D₂cosφ₂ - D₁cosφ₁;
F₃ = D₂cos(φ-φ₁+φ₂) - D₁cosφ;
F₄ = D₂sin(φ-φ₁+φ₂) - D₁sinφ.
Сигналы F₁ и F₂ с первого и второго выходов БР11 поступают соответственно на четвертый и пятый входы БД12. Сигналы F₃ и F₄ с третьего и четвертого выходов БР11 поступают соответственно на второй и третий входы БУ13. БД12 выполнен на трех элементах деления, на которых формируются сигналы

f₂= F₁/F₂, f₃=D₁/S. Реализующей зависимости (4) сигнал f₁ с первого выхода БД12 поступает на третий вход БВВ9. Сигнал f₂ с третьего выхода БД12 поступает на вход БФА14, где формируется сигнал arctgf₂, который с выхода БФА14 поступает на первый вход БС15, где формируется реализующий зависимость (1) сигнал географического курса ψ_п = φ + arctgf₂, который с выхода БС15, поступает на четвертый вход БВВ9. Сигнал f₃ со второго выхода БД12 поступает на четвертый вход БУ13, выполненного на трех элементах умножения, на которых формируются реализующие зависимости (2), (3), (5), сигналы x_оп= f₃•F₃; Y_оп=f₃•F₄; f₄=f₃•D₂, которые с первого, второго и третьего выходов БУ13 поступают соответственно на пятый, шестой и седьмой входы БВВ9, с первого выхода (последовательный код) которого сигналы ψ_п, x_оп, Y_оп, f₁, f₄ поступают через выход УФПД7 на третий вход УКПД8, на первый и второй входы которого подключены выходы СИД2 и НС1 соответственно.At the second and ninth outputs of BPK10, signals are generated

arriving at the first and eighth inputs of the BR11, made on four difference elements on which the signals are formed:
F ₁ = D ₂ sinφ ₂ - D ₁ sinφ ₁ ;
F ₂ = D ₂ cosφ ₂ - D ₁ cosφ ₁ ;
F ₃ = D ₂ cos (φ-φ ₁ + φ ₂ ) - D ₁ cosφ;
F ₄ = D ₂ sin (φ-φ ₁ + φ ₂ ) - D ₁ sinφ.
The signals F ₁ and F ₂ from the first and second outputs of the BR11 are received respectively at the fourth and fifth inputs of the DB12. The signals F ₃ and F ₄ from the third and fourth outputs of the BR11 are received respectively at the second and third inputs of the BU13. BD12 is made on three elements of division, on which signals are formed

f ₂ = F ₁ / F ₂ , f ₃ = D ₁ / S. Implementing the dependence (4), the signal f ₁ from the first output of the BD12 is fed to the third input of the BVV9. The signal f ₂ from the third output of BD12 is fed to the input of BFA14, where the signal arctgf _{2 is formed} , which from the output of BFA14 is fed to the first input of BS15, where the geographic course signal ψ _п = φ + arctgf ₂ , which is output from BS15 arrives at the fourth input of BVV9. The signal f ₃ from the second output of the DB12 is supplied to the fourth input of the BU13, made on three multiplication elements, on which the realizing dependencies (2), (3), (5) are formed, the signals x _op = f ₃ • F ₃ ; Y _op = f ₃ • F ₄ ; f ₄ = f ₃ • D ₂ , which from the first, second and third outputs of BU13 go respectively to the fifth, sixth and seventh inputs of BVV9, from the first output (serial code) of which the signals are ψ _p , x _op , Y _op , f ₁ , f ₄ enter through output UFPD7 to the third input of UKPD8, to the first and second inputs of which the outputs of LED2 and HC1 are connected, respectively.

In UKPD8, the first, second and third inputs are connected respectively to the first, second and third inputs of BVV16, which selects the parameters ψ _p , x _op , Y _op , f ₁ , f ₄ received at the third input; the parameters ψ _n , x _sn , Y _sn , v _xn , v _yn received at the second input; parameters x ₀₁ , y ₀₁ received at the first input.

Δy - медленно меняющиеся погрешности; V_хн = V_х+ΔV_х+Δψ•V_у; V_ун = V_у+ΔV_у-Δψ•V_x - составляющие путевой скорости, измеренные НС1, ΔV_х, ΔV_у - медленно меняющиеся погрешности, x₀₁, y₀₁ - координаты первой цели, x_c, y_c - действительные координаты местоположения летательного аппарата.Here ψ _n = ψ + Δψ is the geographical course measured by HC1, ψ is the actual value of the course, Δψ is the slowly changing error; x _sn = x _s + Δx, Y _sn = Y _c + ΔY - the coordinates of the location of the aircraft determined by HC1,

Δy - slowly changing errors; V _xn = V _x + ΔV _x + Δψ • V _y ; _Un V = V + ΔV _{y y} -Δψ • V _x - components of the ground speed measured HC1, ΔV _x, ΔV _y - slowly varying error, x _01, y ₀₁ - coordinates of the first target, x _c, y _c - the actual location coordinates aircraft.

In BVV16, the parameters ψ _p , x _op , y _op , ψ _n , x _cn , y _cn , x ₀₁ , y ₀₁ from the second to ninth outputs of BVV16 are supplied to the first and eighth inputs of BP17. From the tenth and eleventh outputs of the BVV16 signals f ₁ , f ₄ arrive respectively at the first and second inputs of BFKK20. From the twelfth and thirteenth outputs BVV16 signals v _xn , v _yn are supplied to the first and second inputs of BU18.

и корректирующие сигналы

которые с первого - пятого выходов БСИ19 поступают на девятый - тринадцатый входы БР17.BSI19 generates error estimation signals

and correction signals

which from the first to fifth outputs of BSI19 go to the ninth and thirteenth inputs of BR17.

x_0k=x_ck-x₀₁; y_0k=y_ck-y₀₁, поступающие на первый - пятый выходы БР17 и сигналы

(здесь Δx_o, Δy_o - погрешности координаты местоположения в начале коррекции), поступающие на шестой, седьмой и восьмой выходы БР17, подключенные к третьему, четвертому и пятому входам БУ18, на шестой вход которого поступает сигнал

с первого выхода БСИ19.BR17 is made on eight difference elements, on which corrected signals are formed

x _0k = x _ck -x ₀₁ ; y _0k = y _ck -y ₀₁ , arriving at the first - fifth outputs of BR17 and signals

(here Δx _o , Δy _o are the location coordinate errors at the beginning of the correction) received at the sixth, seventh and eighth outputs of BR17 connected to the third, fourth and fifth inputs of BU18, to the sixth input of which a signal

from the first release of BSI19.

(здесь a_i=const, b_i=const, c_i= const, t - время),

в БФКК20 по известным зависимостям (см. книгу [7] Сейджа 3. Теория оценивания и ее применение в связи с управлении. - М.: Связь, 1976 г., стр. 288) формируются коэффициенты коррекции

K_x0(f₄),...,K_xm(f₄), K_y0(f₄),...,K_ym(f₄), которые с первого - n-го выходов (здесь n= k+2m+3) БФКК20 поступают на седьмой - (n+7)-й входы БУ18. БУ18 выполнен на (n+2)-х элементах умножения, на которых реализуются сигналы

которые с первого - (n+2)-го выходов БУ18 поступают на первый - (n+2)-й входы БСИ19.If a

(here a _i = const, b _i = const, c _i = const, t is time),

in BFKK20 according to well-known dependencies (see Sage’s book [7] 3. Estimation theory and its application in connection with management. - M .: Communication, 1976, p. 288) correction factors are formed

K _x0 (f ₄ ), ..., K _xm (f ₄ ), K _y0 (f ₄ ), ..., K _ym (f ₄ ), which are from the first - nth outputs (here n = k + 2m + 3) BFKK20 arrive at the seventh - (n + 7) -th inputs of the BU18. BU18 is made on (n + 2) -th elements of multiplication, on which signals are realized

which from the first - (n + 2) -th outputs of БУ18 go to the first - (n + 2) -th inputs of BSI19.

которые с первого - пятого выходов БСИ19 поступают на девятый - тринадцатый входы БР17, в котором формируются откорректированные сигналы

Например, при

σ² - спектральная плотность сигнала

типа белого шума,

(здесь
D_ψ - дисперсия сигнала оценки,

начальное значение дисперсии), отсюда следует, что с течением времени

т. е. откорректированное значение географического курса стремится к действительному значению, а флюктуационная погрешность стремится к нулю. Соответственно с точностью до величин второго порядка малости после компенсации погрешности по курсу

x_0к=x_cк-x₀₁; y_0к=y_cк-y₀₁, тогда, например, при b₀=const, c₀=const, b₁=.. . = b_m= 0, c₁= . ..=c_m=0,

будут иметь место оценки при

D_x0=D_y0

Откуда следует, что

соответственно x_cк ---> x_c, y_cк ---> y_c, x_oк ---> x_c-x₀₁, y_oк ---> y_c-y₀₁, т.е. откорректированные значения координат местоположения летательного аппарата стремятся к действительным значениям. Сигналы ψ_к, x_0к, y_cк, x_0к, y_oк с первого - пятого выходов БР17 поступают на четвертый - девятый входы БВВ16, с первого выхода которого эти сигналы, например в последовательном коде поступают на выход БВВ16.BSI19 is executed on (n + 2) -th summing integrators, on which error estimation signals are generated

which from the first to fifth outputs of BSI19 go to the ninth to thirteenth inputs of BR17, in which corrected signals are generated

For example, when

σ ² is the spectral density of the signal

such as white noise

(here
D _ψ is the variance of the estimation signal,

initial dispersion value), it follows that over time

i.e., the adjusted value of the geographic course tends to the actual value, and the fluctuation error tends to zero. Accordingly, accurate to second-order values of smallness after compensating for the course error

x _0k = x _ck -x ₀₁ ; y _0k = y _ck -y ₀₁ , then, for example, with b ₀ = const, c ₀ = const, b ₁ = ... = b _m = 0, c ₁ =. .. = c _m = 0,

will be evaluated at

D _x0 = D _y0

Whence it follows that

respectively x _ck ---> x _c , y _ck ---> y _c , x _ok ---> x _c -x ₀₁ , y _ok ---> y _c -y ₀₁ , i.e. the corrected coordinates of the location of the aircraft tend to real values. Signals _for ψ, x _0k, y _sc, x _0k, y _ca. first - fifth BR17 outputs provided to a fourth - ninth BVV16 inputs, the first output of which these signals, such as a serial code are output BVV16.

 Examples of technical implementation of the BR, DB, BU, BFA, BS, BSI, BOD blocks are given in the book [8] by Tetelbaum I.М. 400 schemes for AVM- M: Energy 1978, an example of the implementation of the BFCC is given in [7] on page 288, examples of the technical implementation of BVV are given in the book [9] Presnukhina L.N. "Digital Computers", Moscow, Higher School, 1981, pp. 394-406. UFPD7 and UKPD8 blocks can be implemented in computing modules of onboard computers, [10] BTsVM-386 Onboard Digital Computing Machine, Operating Regulations, Ramenskoye, Moscow Region, JSC RPKB, 1995. With the output of UKPD8, the signals of the adjusted parameters arrive at the third input of HC1, and at the third input of PS3.

In HC1, the corrected signals ψ _к , x _0к , y _cк , provide increased accuracy of aircraft _navigation and, accordingly, control and indication; in PS3, the corrected signals x _0k , y _0k provide an increase in the accuracy of the solution of aiming tasks and, accordingly, control, indication and launch of weapons.

 Thus, the implementation results show the achievement of a technical result - improving the accuracy of the on-board equipment complex when solving the problems of navigation, control, indication, tasks of targeted launching of weapons and, as a result, increasing the efficiency of the use of aircraft, especially helicopters and front-line aircraft.

Claims (1)

A complex of onboard equipment of the aircraft, containing a navigation system, a system for setting the source data, an aiming system, a control system for the aircraft, an indication system, a control system for weapons and a correction device for movement parameters, while the output of the system for setting the initial data is connected to the first inputs of the navigation system, sighting system, aircraft control system, weapon control systems, motion correction devices, output the navigation system is connected to the second inputs of the aiming system, the aircraft control system, the display system, motion correction device, the output of the aiming system is connected to the second inputs of the navigation system and the weapon control system and to the third inputs of the aircraft control system and the display system the input of which is connected the output of the weapon control system, the output of the motion correction device is connected to the third navigation inputs oh system and sighting system, characterized in that it additionally introduced output connected to the third input device motion correction parameter generating device motion parameters at first and second inputs of which outputs raw data reference systems are connected, respectively, and the sighting system, wherein
the device for generating motion parameters contains an input-output unit, a coordinate conversion unit, a difference unit, a division unit, a multiplication unit, an arctangent generation unit and a summing unit, the first and second inputs of the motion parameter generating device being the first and second inputs of the input-output unit, the third and seventh inputs of which are connected respectively to the first output of the division unit, the output of the summing unit, the first, second and third outputs of the multiplication unit, by the output of the steam generation device meters of movement is the first output of the input-output unit, the second and seventh outputs of which are connected respectively to the first input of the division unit, the first and fifth inputs of the coordinate conversion unit, the third output of the input-output unit is also connected to the second input of the division unit, to the third input of which the first output of the coordinate transformation unit, the second and ninth outputs of which are connected respectively to the first and eighth inputs of the difference unit, the first and second outputs of which are connected respectively to the fourth and fifth mu inputs of the division unit, the fourth output of the input-output unit is also connected to the first input of the multiplication unit, the second, third and fourth inputs of which are connected respectively to the third and fourth outputs of the difference unit and the second output of the division unit, the third output of which is connected to the input of the arctangent generation unit whose output is connected to the first input of the summing unit, the second input of which is connected to the seventh output of the input-output unit.

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